Showing papers in "Cognitive Processing in 2011"

Model learning for robot control: a survey

Abstract: Models are among the most essential tools in robotics, such as kinematics and dynamics models of the robot’s own body and controllable external objects. It is widely believed that intelligent mammals also rely on internal models in order to generate their actions. However, while classical robotics relies on manually generated models that are based on human insights into physics, future autonomous, cognitive robots need to be able to automatically generate models that are based on information which is extracted from the data streams accessible to the robot. In this paper, we survey the progress in model learning with a strong focus on robot control on a kinematic as well as dynamical level. Here, a model describes essential information about the behavior of the environment and the influence of an agent on this environment. In the context of model-based learning control, we view the model from three different perspectives. First, we need to study the different possible model learning architectures for robotics. Second, we discuss what kind of problems these architecture and the domain of robotics imply for the applicable learning methods. From this discussion, we deduce future directions of real-time learning algorithms. Third, we show where these scenarios have been used successfully in several case studies.

Pupillary Stroop effects

Abstract: We recorded the pupil diameters of participants performing the words’ color-naming Stroop task (i.e., naming the color of a word that names a color). Non-color words were used as baseline to firmly establish the effects of semantic relatedness induced by color word distractors. We replicated the classic Stroop effects of color congruency and color incongruency with pupillary diameter recordings: relative to non-color words, pupil diameters increased for color distractors that differed from color responses, while they reduced for color distractors that were identical to color responses. Analyses of the time courses of pupil responses revealed further differences between color-congruent and color-incongruent distractors, with the latter inducing a steep increase of pupil size and the former a relatively lower increase. Consistent with previous findings that have demonstrated that pupil size increases as task demands rise, the present results indicate that pupillometry is a robust measure of Stroop interference, and it represents a valuable addition to the cognitive scientist’s toolbox.

Identifying the processes underpinning anticipation and decision-making in a dynamic time-constrained task.

Abstract: A novel, representative task was used to examine skill-based differences in the perceptual and cognitive processes underlying performance on a dynamic, externally paced task. Skilled and less skilled soccer players were required to move and interact with life-size, action sequences involving 11 versus 11 soccer situations filmed from the perspective of a central defender in soccer. The ability of participants to anticipate the intentions of their opponents and to make decisions about how they should respond was measured across two separate experiments. In Experiment 1, visual search behaviors were examined using an eye-movement registration system. In Experiment 2, retrospective verbal reports of thinking were gathered from a new sample of skilled and less skilled participants. Skilled participants were more accurate than less skilled participants at anticipating the intentions of opponents and in deciding on an appropriate course of action. The skilled players employed a search strategy involving more fixations of shorter duration in a different sequential order and toward more disparate and informative locations in the display when compared with the less skilled counterparts. The skilled players generated a greater number of verbal report statements with a higher proportion of evaluation, prediction, and planning statements than the less skilled players, suggesting they employed more complex domain-specific memory representations to solve the task. Theoretical, methodological, and practical implications are discussed.

Training with anxiety: short- and long-term effects on police officers’ shooting behavior under pressure

Abstract: We investigated short- and long-term effects of training with anxiety on police officers’ shooting behavior under pressure. Using a pretest, posttest, and retention test design, 27 police officers executed a shooting exercise against an opponent that did (high anxiety) or did not (low anxiety) shoot back using colored soap cartridges. During the training sessions, the experimental group practiced with anxiety and the control group practiced without anxiety. At the pretest, anxiety had a negative effect on shot accuracy for both groups. At the posttest, shot accuracy of the experimental group no longer deteriorated under anxiety, while shot accuracy of the control group was still equally affected. At the retention test, 4 months after training, positive results for the experimental group remained present, indicating that training with anxiety may have positive short- and long-term effects on police officers’ shot accuracy under pressure. Additional analyses showed that these effects are potentially related to changes in visual attention on task-relevant information.

Quiet-eye training for soccer penalty kicks.

Abstract: Anxiety has been shown to disrupt visual attention, visuomotor control and subsequent shot location in soccer penalty kicks. However, optimal visual attention has been trained in other far aiming skills, improving performance and resistance to pressure. We therefore asked a team of ten university soccer players to follow a quiet eye (QE; Vickers 1996) training program, designed to align gaze with aiming intention to optimal scoring zones, over a 7-week period. Performance and gaze parameters were compared to a placebo group (ten players) who received no instruction, but practiced the same number of penalty kicks over the same time frame. Results from a retention test indicated that the QE-trained group had more effective visual attentional control, were significantly more accurate, and had 50% fewer shots saved by the goalkeeper than the placebo group. Both groups then competed in a penalty shootout to explore the influence of anxiety on attentional control and shooting accuracy. Under the pressure of the shootout, the QE-trained group failed to maintain their accuracy advantage, despite maintaining more distal aiming fixations of longer duration. The results therefore provide only partial support for the effectiveness of brief QE training interventions for experienced performers.

Quiet eye and the Bereitschaftspotential: visuomotor mechanisms of expert motor performance

Abstract: Concurrent exploration of the Bereitschaftspotential (BP) and quiet eye period (QE) was implemented to assess potential mechanisms underlying psychomotor skills that differentiate expert and near-expert performers. Twenty golfers were classified by their USGA handicap rating as either a high handicap (HH; near-expert) or low handicap (LH; expert) to permit skill-based inferences. Participants completed 90 trials during which QE duration, BP activity, and putting performance were recorded. The application of single-subject analyses illustrated that LH golfers were more accurate and less variable in their performance than the HH group. Systematic differences in QE duration and BP were also observed, with experts exhibiting a prolonged quiet eye period and greater cortical activation in the right-central region compared with non-experts. A significant association between cortical activation and QE duration was also noted. The results of this investigation lend support to the motor programming/preparation function of the QE period. Practical and theoretical implications are presented and suggestions for future empirical work provided.

The effect of fixation transitions on quiet eye duration and performance in the soccer penalty kick: instep versus inside kicks

Abstract: Male goalkeepers of intermediate skill level attempted to stop penalty kicks executed with the instep and inside foot, in situ. A mobile eye tracker and an external camera were used to collect the gaze and motor behaviors of the goalkeepers, as well as the penalty takers’ motor behaviors and flight of the ball. Percent saves was greater during instep (28%) than inside foot kicks (12%), but we detected few differences in fixation frequency, location, duration, or transitions that could be attributed to the type of kick used. Fixation transitions (or the frequency of gaze shifts between locations) were significantly higher on goals than on saves. During the final phase of the kicking action, the quiet eye was located on the visual pivot and was longer during saves than goals. Furthermore, when the final fixation on the ball exceeded approximately 1,100 ms, then the likelihood of goals increased. The results are discussed in light of past studies in goaltending and the dual demands of motor tasks that require information be fixated both early and late at spatial locations that exceed the limits of focal vision.

The semantic organization of the animal category: evidence from semantic verbal fluency and network theory

Abstract: Semantic memory is the subsystem of human memory that stores knowledge of concepts or meanings, as opposed to life-specific experiences. How humans organize semantic information remains poorly understood. In an effort to better understand this issue, we conducted a verbal fluency experiment on 200 participants with the aim of inferring and representing the conceptual storage structure of the natural category of animals as a network. This was done by formulating a statistical framework for co-occurring concepts that aims to infer significant concept–concept associations and represent them as a graph. The resulting network was analyzed and enriched by means of a missing links recovery criterion based on modularity. Both network models were compared to a thresholded co-occurrence approach. They were evaluated using a random subset of verbal fluency tests and comparing the network outcomes (linked pairs are clustering transitions and disconnected pairs are switching transitions) to the outcomes of two expert human raters. Results show that the network models proposed in this study overcome a thresholded co-occurrence approach, and their outcomes are in high agreement with human evaluations. Finally, the interplay between conceptual structure and retrieval mechanisms is discussed.

Skill-based differences in option generation in a complex task: a verbal protocol analysis.

Abstract: In recent models of decision-making, cognitive scientists have examined the relationship between option generation and successful performance. These models suggest that those who are successful at decision-making generate few courses of action and typically choose the first, often best, option. Scientists working in the area of expert performance, on the other hand, have demonstrated that the ability to generate and prioritize task-relevant options during situation assessment is associated with successful performance. In the current study, we measured law enforcement officers’ performance and thinking in a simulated task environment to examine the option generation strategies used during decision-making in a complex domain. The number of options generated during assessment (i.e., making decisions about events in the environment) and intervention (i.e., making decisions about personal courses of action) phases of decision-making interact to produce a successful outcome. The data are explained with respect to the development of a situational representation and long-term working memory skills capable of supporting both option generation processes.

Mind over muscle: The role of gaze control, spatial cognition, and the quiet eye in motor expertise

Abstract: In the course of all motor behavior, the brain is limited in how much information it can process and act upon at a time. Performers must constantly decide where to look, what to attend to, and how to time fixated information with precisely controlled actions. The gaze can be directed to only one location at a time and information central to success must be selected from spatially complex environments, most often under severe time constraints. The coordination of these processes is explored in this Special issue in a number of motor tasks, including golf, soccer, law enforcement, and ballet. The papers describe the visual information and quiet eye characteristics that underlie the ability to make decisions under complex task conditions and the relationship between control of the gaze and task outcomes. With the attainment of motor expertise, measureable changes occur within the gaze, cognitive, and neural systems that are useful in training, rehabilitation, and the treatment of motor deficits.

Decision-making under risk conditions is susceptible to interference by a secondary executive task.

Abstract: Recent research suggests two ways of making decisions: an intuitive and an analytical one The current study examines whether a secondary executive task interferes with advantageous decision-making in the Game of Dice Task (GDT), a decision-making task with explicit and stable rules that taps executive functioning One group of participants performed the original GDT solely, two groups performed either the GDT and a 1-back or a 2-back working memory task as a secondary task simultaneously Results show that the group which performed the GDT and the secondary task with high executive load (2-back) decided less advantageously than the group which did not perform a secondary executive task These findings give further evidence for the view that decision-making under risky conditions taps into the rational-analytical system which acts in a serial and not parallel way as performance on the GDT is disturbed by a parallel task that also requires executive resources

A computational model of perception and action for cognitive robotics

Abstract: Robots are increasingly expected to perform tasks in complex environments. To this end, engineers provide them with processing architectures that are based on models of human information processing. In contrast to traditional models, where information processing is typically set up in stages (i.e., from perception to cognition to action), it is increasingly acknowledged by psychologists and robot engineers that perception and action are parts of an interactive and integrated process. In this paper, we present HiTEC, a novel computational (cognitive) model that allows for direct interaction between perception and action as well as for cognitive control, demonstrated by task-related attentional influences. Simulation results show that key behavioral studies can be readily replicated. Three processing aspects of HiTEC are stressed for their importance for cognitive robotics: (1) ideomotor learning of action control, (2) the influence of task context and attention on perception, action planning, and learning, and (3) the interaction between perception and action planning. Implications for the design of cognitive robotics are discussed.

Statistical modelling of gaze behaviour as categorical time series: what you should watch to save soccer penalties.

Abstract: Previous research on gaze behaviour in sport has typically reported summary fixation statistics thereby largely ignoring the temporal sequencing of gaze. In the present study on penalty kicking in soccer, our aim was to apply a Markov chain modelling method to eye movement data obtained from goalkeepers. Building on the discrete analysis of gaze employed by Dicks et al. (Atten Percept Psychophys 72(3):706–720, 2010b), we wanted to statistically model the relative probabilities of the goalkeeper’s gaze being directed to different locations throughout the penalty taker’s approach (Dicks et al. in Atten Percept Psychophys 72(3):706–720, 2010b). Examination of gaze behaviours under in situ and video-simulation task constraints reveals differences in information pickup for perception and action (Attention, Perception and Psychophysics 72(3), 706–720). The probabilities of fixating anatomical locations of the penalty taker were high under simulated movement response conditions. In contrast, when actually required to intercept kicks, the goalkeepers initially favoured watching the penalty taker’s head but then rapidly shifted focus directly to the ball for approximately the final second prior to foot-ball contact. The increased spatio-temporal demands of in situ interceptive actions over laboratory-based simulated actions lead to different visual search strategies being used. When eye movement data are modelled as time series, it is possible to discern subtle but important behavioural characteristics that are less apparent with discrete summary statistics alone.

Conceptual layers and strategies in tour planning

Abstract: We present an exploratory study of an everyday navigation planning situation, addressing spatial planning strategies as well as cognitive shifts between the visually available map and the conceptualized real-world environment. Participants were asked to plan a diversified holiday route on an island, with the help of a map representing spatial as well as activity information. Following the task proper, they reported in written form about the problem-solving process. Route trajectories were analyzed with respect to their properties, and reports were analyzed with respect to the represented concepts and linguistic patterns. Results reveal that route trajectories tended to be circular rather than random, with relatively few detours or crossing lines. The underlying spatial planning strategies as represented in the written reports resembled earlier findings on the Traveling Salesperson Problem, providing insights into the extent to which this abstract task transfers to a naturalistic scenario. Most crucially, our linguistic analysis provides new results about the representation of conceptual layers when considering the real-world navigation domain of traveling in relation to the actual table-top map planning domain.

Visualizing space, time, and agents: production, performance, and preference

Abstract: Visualizations of space, time, and agents (or objects) are ubiquitous in science, business, and everyday life, from weather maps to scheduling meetings. Effective communications, including visual ones, emerge from use in the field, but no conventional visualization form has yet emerged for this confluence of information. The real-world spiral of production, comprehension, and use that fine-tunes communications can be accelerated in the laboratory. Here, we do so in search of effective visualizations of space, time, and agents. Users' production, preference, and performance aligned to favor matrix representations with time as rows or columns and space and agents as entries. Overall, performance and preference were greater for matrices with discrete dots representing cell entries than for matrices with lines, but lines connecting cells may provide an advantage when evaluating temporal sequence. Both the diagram type and the technique have broader applications.

Using spoken words to guide open-ended category formation

Abstract: Naming is a powerful cognitive tool that facilitates categorization by forming an association between words and their referents. There is evidence in child development literature that strong links exist between early word-learning and conceptual development. A growing view is also emerging that language is a cultural product created and acquired through social interactions. Inspired by these studies, this paper presents a novel learning architecture for category formation and vocabulary acquisition in robots through active interaction with humans. This architecture is open-ended and is capable of acquiring new categories and category names incrementally. The process can be compared to language grounding in children at single-word stage. The robot is embodied with visual and auditory sensors for world perception. A human instructor uses speech to teach the robot the names of the objects present in a visually shared environment. The robot uses its perceptual input to ground these spoken words and dynamically form/organize category descriptions in order to achieve better categorization. To evaluate the learning system at word-learning and category formation tasks, two experiments were conducted using a simple language game involving naming and corrective feedback actions from the human user. The obtained results are presented and discussed in detail.

The Giessen virtual environment laboratory: human wayfinding and landmark salience.

Abstract: In our virtual environment laboratory, we focus on different topics in human spatial cognition with projects on landmark salience, route knowledge, and survey knowledge. Within this laboratory note, we provide an overview of previous, current, and future work with our virtual environment SQUARELAND.

The redundancy of recursion and infinity for natural language

Abstract: An influential line of thought claims that natural language and arithmetic processing require recursion, a putative hallmark of human cognitive processing (Chomsky in Evolution of human language: biolinguistic perspectives. Cambridge University Press, Cambridge, pp 45–61, 2010; Fitch et al. in Cognition 97(2):179–210, 2005; Hauser et al. in Science 298(5598):1569–1579, 2002). First, we question the need for recursion in human cognitive processing by arguing that a generally simpler and less resource demanding process—iteration—is sufficient to account for human natural language and arithmetic performance. We argue that the only motivation for recursion, the infinity in natural language and arithmetic competence, is equally approachable by iteration and recursion. Second, we submit that the infinity in natural language and arithmetic competence reduces to imagining infinite embedding or concatenation, which is completely independent from the ability to implement infinite processing, and thus, independent from both recursion and iteration. Furthermore, we claim that a property of natural language is physically uncountable finity and not discrete infinity.

Effect of narrowing the base of support on the gait, gaze and quiet eye of elite ballet dancers and controls.

Abstract: We determined the gaze and stepping behaviours of elite ballet dancers and controls as they walked normally and along progressively narrower 3-m lines (l0.0, 2.5 cm). The ballet dancers delayed the first step and then stepped more quickly through the approach area and onto the lines, which they exited more slowly than the controls, which stepped immediately but then slowed their gait to navigate the line, which they exited faster. Contrary to predictions, the ballet group did not step more precisely, perhaps due to the unique anatomical requirements of ballet dance and/or due to releasing the degrees of freedom under their feet as they fixated ahead more than the controls. The ballet group used significantly fewer fixations of longer duration, and their final quiet eye (QE) duration prior to stepping on the line was significantly longer (2,353.39 ms) than the controls (1,327.64 ms). The control group favoured a proximal gaze strategy allocating 73.33% of their QE fixations to the line/off the line and 26.66% to the exit/visual straight ahead (VSA), while the ballet group favoured a ‘look-ahead’ strategy allocating 55.49% of their QE fixations to the exit/VSA and 44.51% on the line/off the line. The results are discussed in the light of the development of expertise and the enhanced role of fixations and visual attention when more tasks become more constrained.

Category learning in the context of co-presented items

Abstract: A series of four studies explore how the presentation of multiple items on each trial of a categorization task affects the course of category learning. In a three-category supervised classification task involving multi-dimensionally varying artificial organism-like stimuli, learners are shown a target plus two context items on every trial, with the context items’ category membership explicitly identified. These triads vary in whether one, two, or all three categories are represented. This presentation context can support within-category comparison and/or between-category contrast. The most successful learning occurs when all categories are represented in each trial. This pattern occurs across two different underlying category structures and across variations in learners’ prior knowledge of the relationship between the target and context items. These results appear to contrast with some other recent findings and make clear the potential importance of context-based inter-item evaluation in human category learning, which has implications for psychological theory and for real-world learning environments.

Interpreting spatial language in image captions

Abstract: The map as a tool for accessing data has become very popular in recent years, but a lot of data do not have the necessary spatial meta-data to allow for that. Some data such as photographs however have spatial information in their captions and if this could be extracted, then they could be made available via map-based interfaces. Towards this goal, we introduce a model and spatio-linguistic reasoner for interpreting the spatial information in image captions that is based upon quantitative data about spatial language use acquired directly from people. Spatial language is inherently vague, and both the model and reasoner have been designed to incorporate this vagueness at the quantitative level and not only qualitatively.

The effect of occlusion on the semantics of projective spatial terms: a case study in grounding language in perception

Abstract: Although data-driven spatial template models provide a practical and cognitively motivated mechanism for characterizing spatial term meaning, the influence of perceptual rather than solely geometric and functional properties has yet to be systematically investigated. In the light of this, in this paper, we investigate the effects of the perceptual phenomenon of object occlusion on the semantics of projective terms. We did this by conducting a study to test whether object occlusion had a noticeable effect on the acceptance values assigned to projective terms with respect to a 2.5-dimensional visual stimulus. Based on the data collected, a regression model was constructed and presented. Subsequent analysis showed that the regression model that included the occlusion factor outperformed an adaptation of Regier & Carlson’s well-regarded AVS model for that same spatial configuration.

Intracerebral source generators characterizing concentrative meditation.

Abstract: Previous researchers have studied meditation practices as a means to understand consciousness as well as altered states of consciousness. Various meditation techniques, such as Transcendental Meditation (TM) and Qigong, have been explored with source localization tools; however, the concentrative meditation technique has yet to be fully studied in this manner. The current study demonstrates findings, which outline differential activation in a self-referential default network during meditation in participants who espouse themselves as regular concentrative meditation practitioners, as well as comparisons with a control group practicing a modified version of the relaxation response. The results are compared with other putative experimental findings employing other meditation techniques, and the findings outlined in the current study are discussed with respect to changes in perceptual awareness often reported by meditators.

The Bootstrap Discovery Behaviour (BDB): a new outlook on usability evaluation.

Abstract: The value of λ is one of the main issues debated in international usability studies. The debate is centred on the deficiencies of the mathematical return on investment model (ROI model) of Nielsen and Landauer (1993). The ROI model is discussed in order to identify the base of another model that, respecting Nielsen and Landauer's one, tries to consider a large number of variables for the estimation of the number of evaluators needed for an interface. Using the bootstrap model (Efron 1979), we can take into account: (a) the interface properties, as the properties at zero condition of evaluation and (b) the probability that the population discovery behaviour is represented by all the possible discovery behaviours of a sample. Our alternative model, named Bootstrap Discovery Behaviour (BDB), provides an alternative estimation of the number of experts and users needed for a usability evaluation. Two experimental groups of users and experts are involved in the evaluation of a website (http://www.serviziocivile.it). Applying the BDB model to the problems identified by the two groups, we found that 13 experts and 20 users are needed to identify 80% of usability problems, instead of 6 experts and 7 users required according to the estimation of the discovery likelihood provided by the ROI model. The consequence of the difference between the results of those models is that in following the BDB the costs of usability evaluation increase, although this is justified considering that the results obtained have the best probability of representing the entire population of experts and users.

Toward cognitivist ontologies : on the role of selective attention for upper ontologies.

Abstract: Ontologies play a key role in modern information society although there are still many fundamental questions regarding their structure to be answered. In this paper, some of these are presented, and it is argued that they require a shift from realist to cognitivist ontologies, with ontology design crucially depending on taking both cognitive and linguistic aspects into consideration. A detailed discussion of central parts of a proposed cognitivist upper ontology based on qualitative representations of selective attention is presented.

Effects of vision and haptics on categorizing common objects.

Abstract: Most research on object recognition and categorization centers on vision. However, these phenomena are likely influenced by the commonly used modality of touch. The present study tested this notion by having participants explore three-dimensional objects using vision and haptics in naming and sorting tasks. Results showed greater difficulty naming (recognizing) and sorting (categorizing) objects haptically. For both conditions, error increased from the concrete attribute of size to the more abstract quality of predation, providing behavioral evidence for shared object representation in vision and haptics.

West vs. West like East vs. West? A comparison between Italian and US American context sensitivity and Fear of Isolation

Abstract: Easterners tend to process information more holistically than Westerners. Kim and Markman (J Exp Soc Psychol 42(3):350–364, 2006) suggest that these differences are rooted in higher chronic levels of Fear of Isolation (FOI) for those cultures that process information more holistically. The goal of this study was to determine if these differences and their suggested cause could be found with two different Western cultures. Testing Italian (IT) and US American (US) adults, we found that IT participants processed information more holistically and had a higher chronic level of FOI than US participants; furthermore, the manipulation of FOI affected context sensitivity more for IT than for US participants. The results demonstrate that IT participants were more similar to previous research with Eastern populations than with Western populations (Kim and Markman in J Exp Soc Psychol 42(3):350–364, 2006) and indicate a within-Western culture difference for reasoning styles and support the hypothesis that this difference is due to different chronic levels of FOI.

Insufficient augmentation of ambient GABA responsible for age-related cognitive deficit

Abstract: Age-related degeneration of intracortical inhibition could underlie declines in cognitive function during senescence. Based on a hypothesis that a decrease in basal concentration of ambient (extrasynaptic) GABA with aging leads to depressing intracortical inhibition, we investigated how the basal concentration affects stimulus-evoked activity (as signal), ongoing-spontaneous activity (as noise) of neurons and their (signal-to-noise) ratio S/N. We simulated a neural network model equipped with a GABA transport system that regulates ambient GABA concentration in a neuronal activity-dependent manner. An increase in basal concentration augmented ambient GABA, increased GABA-mediated inhibitory current, and depressed ongoing-spontaneous activity while still keeping stimulus-evoked activity. This led to S/N improvement, for which it was necessary for the reversal potential of GABA transporter to be close to the resting potential of neurons. Above the resting potential, ongoing-spontaneous activity was predominantly enhanced due to excessive GABA-uptake from the extracellular space by transporters. Below the resting potential, stimulus-evoked activity was predominantly depressed, caused by excessive GABA-release. We suggest that the insufficient augmentation of ambient GABA due to a decrease in its basal concentration may be one of the possible causes of cognitive deficit with aging, increasing ongoing-spontaneous neuronal activity as noise. GABA transporter may contribute to improving S/N, provided that its reversal potential is close to the resting potential.

Some considerations about the biological appearance of pacing stimuli in visuomotor finger-tapping tasks

Abstract: Sensorimotor synchronization is a crucial function for human daily activities, which relies on the ability of predicting external events. Synchronization performance, as assessed in finger-tapping (FT) tasks, is characterized by an anticipation tendency, as the tap generally precedes the pacing event. This synchronization error (SE) depends on many factors, in particular on the features of the pacing stimulus. Interest is growing in the facilitation effect that action observation has on motor execution. So far, neuroimaging and neurophysiology studies of motor priming via action observation have mainly employed tasks requiring single action instances. The impact of action observation on motor synchronization to periodic stimuli has not yet been tested; to this aim, a synchronization FT task may be an eligible probing task. The purpose of this study was to characterize a biological pacer at the behavioral level and provide information for those interested in studying the brain processes of continuous observation/execution coupling in timed actions using FT tasks. We evaluated the influence of the biological appearance of a pacer (a tapping finger) on SE, when compared to an abstract, kinematically equivalent pacer (a tilting hinged bar) and a more standard stimulus (a pulsating dot). We showed that the continuous visual display of a biological pacer yields comparable results to the abstract pacer, and a more robust performance and larger anticipations than a traditional pulsating stimulus.

Multimodal cognitive interface for robot navigation.

Abstract: To build effective interactions between humans and robots, they should have common ground of understanding that creates realistic expectations and forms the basis communications. An emerging approach to doing this is to create cognitive models of human reasoning and behavior selection. We have developed a robot navigation system that uses both spatial language and graphical representation to describe route-based navigation tasks for a mobile robot. Our proposed route instruction language (RIL) is intended as a semi-formal language for instructing the robot to execute a route in an indoor environment. We implemented an instruction interpreter to process the route description and generate its equivalent symbolic and topological map representations. A topological map is generated to describe relationships among features of the environment in a more abstract form without any absolute reference system to treat the ambiguity which can occur when the robot cannot recognize the current landmark. The symbolic and topological map representations are supplied to other system components as an initial path estimation to guide the robot while it plans its navigation task. We conducted some experiments to evaluate the routes which are written by using the RIL instructions.