In this paper we propose a method for interactive recognition of household objects using proprioceptive and auditory feedback. In our experiments, the robot observed the changes in its proprioceptive and auditory sensory streams while performing five exploratory behaviors (lift, shake, drop, crush, and push) on 50 common household objects (e.g. bottles, cups, balls, toys, etc.). The robot was tasked with recognizing the objects it was manipulating by feeling them and listening to the sounds that they make without using any visual information. The results show that both proprioception and audio, coupled with exploratory behaviors, can be used successfully for object recognition. Furthermore, the robot was able to integrate feedback from the two modalities, to achieve even better recognition accuracy. Finally, the results show that the robot can boost its recognition rate even further by applying multiple different exploratory behaviors on the object.
Abstract-DNA nanotechnology uses the information processing capabilities of nucleic acids to design self-assembling, programmable structures and devices at the nanoscale. Devices developed to date have been programmed to implement logic circuits and neural networks, capture or release specific molecules, and traverse molecular tracks and mazes.Here we investigate the use of requirements engineering methods to make DNA nanotechnology more productive, predictable, and safe. We use goal-oriented requirements modeling to identify, specify, and analyze a product family of DNA nanodevices, and we use PRISM model checking to verify both common properties across the family and properties that are specific to individual products. Challenges to doing requirements engineering in this domain include the errorprone nature of nanodevices carrying out their tasks in the probabilistic world of chemical kinetics, the fact that roughly a nanomole (a 1 followed by 14 0s) of devices are typically deployed at once, and the difficulty of specifying and achieving modularity in a realm where devices have many opportunities to interfere with each other. Nevertheless, our results show that requirements engineering is useful in DNA nanotechnology and that leveraging the similarities among nanodevices in the product family improves the modeling and analysis by supporting reuse.
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