Sarthak Arora

Harleen Kaur Bagga, Jasmine Bernard, Sahil Shaheen et al.

Sarcasm is hard to interpret as human beings. Being able to interpret sarcasm is often termed as a sign of intelligence, given the complex nature of sarcasm. Hence, this is a field of Natural Language Processing which is still complex for computers to decipher. This Literature Survey delves into different aspects of sarcasm detection, to create an understanding of the underlying problems faced during detection, approaches used to solve this problem, and different forms of available datasets for sarcasm detection.

Sarthak Arora, Shitij Kumar, Ferat Sahin

In this paper, we propose a simple methodology to detect the partial pose of a human occupying the manipulator work-space using only on-robot time--of--flight laser ranging sensors. The sensors are affixed on each link of the robot in a circular array fashion where each array possesses sixteen single unit laser ranging lidar(s). The detection is performed by leveraging an artificial neural network which takes a highly sparse 3-D point cloud input to produce an estimate of the partial pose which is the ground projection frame of the human footprint. We also present a particle filter based approach to the tracking problem when the input data is unreliable. Ultimately, the simulation results are presented and analyzed.

Celal Savur, Shitij Kumar, Sarthak Arora et al.

This paper presents an experimentation platform for human robot collaboration as a system of systems as well as proposes a conceptual framework describing the aspects of Human Robot Collaboration. These aspects are Awareness, Intelligence and Compliance of the system. Based on this framework case studies describing experiment setups performed using this platform are discussed. Each experiment highlights the use of the subsystems such as the digital twin, motion capture system, human-physiological monitoring system, data collection system and robot control and interface systems. A highlight of this paper showcases a subsystem with the ability to monitor human physiological feedback during a human robot collaboration task.

Shitij Kumar, Sarthak Arora, Ferat Sahin

In this paper, a speed and separation monitoring (SSM) based safety controller using three time-of-flight ranging sensor arrays fastened to the robot links, is implemented. Based on the human-robot minimum distance and their relative velocities, a controller output characterized by a modulating robot operation speed is obtained. To avert self-avoidance, a self occlusion detection method is implemented using ray-casting technique to filter out the distance values associated with the robot-self and the restricted robot workspace. For validation, the robot workspace is monitored using a motion capture setup to create a digital twin of the human and robot. This setup is used to compare the safety,performance and productivity of various versions of SSM safety configurations based on minimum distance between human and robot calculated using on-robot Time-of-Flight sensors, motion capture and a 2D scanning lidar.