Dr. Javier Gonzalez-Sanchez [email protected] www.javiergs.info o ffi ce: 14 -227 CSC 570 Current Topics in Computer Science Applied Affective Computing Lecture 12. Human-Robot Interaction 

Homework 2 

UR e-Series Control Panel 3 

HRI • S a fe, a nd intuitive communic a tion between hum a ns a nd robotic systems • Trust a nd Tr a nsp a rency • Hum a n Perception of Robots • Emotion a nd A ff ective Computing in Robots • Hum a n Job Displ a cement vs. Coll a bor a tion (Te a ms) 4 

Thoughts? • Autonomy: When should a system prompt user con f irm a tion before a n a ction? (e.g., showing a n a rm’s intended p a th before execution). • How to notify users? (e.g., if a robotic a rm is stuck, should it vibr a te, f l a sh a w a rning, or issue a spoken prompt?). • Physic a l Output: Does a user trust a robotic a ction more th a n a n mess a ge? How do users interpret robotic a rm movements vs. UI-b a sed textu a l mess a ges? When is direct movement better th a n screen-b a sed feedb a ck (e.g., con f irming a n a ction through movement r a ther th a n a UI pop-up)? 5 

( 6 

Deployment 7 

Container 8 

Docker 9 

It is not VM • Containers share the host operating system kernel, libraries, and binaries. • Virtual machines run its own guest operating system, • Virtual machines provide full-blown virtualization of hardware resources, including CPU, memory, storage, and networking. 10 

Docker | Run 11 Docker Engine 

Docker | Steps 12 2. A package that includes everything needed to run software, including the code, runtime, libraries, dependencies, and configuration files. 3. A container is a runtime instance of an image. It encapsulates the execution environment for a specific application or process, including the filesystem, environment variables, network settings, and runtime options. 1. A text file that contains instructions for building a Docker image 

Set Up 

Install Docker Desktop 14 

Docker Desktop 15 

Docker Destop 16 

Docker Destop 17 

) 18 

Our Robot 

UR e-Series Control Panel 20 

Docker f ile 21 

Docker f ile 22 

Docker f ile 23 

localhost | exposed port 6080 24 

localhost | exposed port 6080 25 

localhost | exposed port 6080 26 

Java Desktop 27 

Java Desktop 28 

Reference 29 The URScript Programming Language for e-Series https://s3-eu-west-1.amazonaws.com/ur-support-site/115824/scriptManual_SW5.11.pdf 

Remote Control 30 

Remote Control 31 

UR e-Series Control Panel 32 

Thoughts? 33 

Questions 34 

CSC 570 Applied Affective Computing Javier Gonzalez-Sanchez, Ph.D. [email protected] Spring 2025 Copyright. These slides can only be used as study material for the class CSC 570 at Cal Poly. They cannot be distributed or used for another purpose.