(v,5, 1) RBI BDs were known to exist for all but 109 values of v == 5 mod 20. Solutions are given for all but 6 of these. Also given is a new (45,5,3) RBIBD plus some new incomplete TDs, 14 new (v,6,1) BIBDs and some new PBDs with K = {6} u {Prime powers == 1 mod 5}. A design is a pair (X,5l) where X is a finite set (whose elements are called paints) and .9[ is a collection of subsets of X (cal...

User-Centered Programming by Demonstration is an approach that places the needs of people above algorithmic constraints and requirements. In this paper we present a user-centered programming by demonstration project for authoring interactive robotic locomotion style. The style in which a robot moves about a space, expressed through its motions, can be used for communication. For example, a robo...

This work presents an approach for implementation of conditional random fields (CRF) in transferring motor skills to robots. As a discriminative probabilistic model, CRF models directly the conditional probability distribution over label sequences for given observation sequences. Hereby, CRF was employed for segmentation and labeling of a set of demonstrated trajectories observed by a tracking ...

We present a novel method to simulate bending and torsion of elastic rods within the position-based dynamics (PBD) framework. The main challenge is that torsion effects of Cosserat rods are described in terms of material frames which are attached to the centerline of the rod. But frames or orientations do not fit into the classical position-based dynamics formulation. To solve this problem we i...

In a programming by demonstration system, examples provided by the user are generalized to form abstractions that are used by the system. There are several reasons why the system and the user should collaborate to annotate examples with knowledge that guides generalization. These include dealing with inconsistencies among examples or the underlying domain theory, making queries in order to spee...

In time-sensitive environments such as disaster management, decision-making often requires rapidly gathering the information from diverse data sources and then visualizing the collected information to understand it. Thus, it is critical to reduce the overhead in data integration and visualization for efficient decision-making. Geospatial mashups can be an effective solution in such environments...

Cleogo is a novel groupware environment that allows several users to simultaneously develop programs through any mixture of three alternative programming metaphors: a direct manipulation language for programming by demonstration; an iconic language; and a standard text-based language. Cleogo is motivated by the pedagogical values of peer-learning and of collaborative problem solving, and by our...

This paper presents robot programming by demonstration using hybrid dynamic system modelling. A hybrid dynamic system has been identified as a good way to model tasks involving contacts and constrained motion. We propose a framework where mappings required within the hybrid dynamic system model are extracted from a demonstration. In this paper we concentrate on extracting a mapping for the Even...