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A special area of human-machine interaction, the expression of emotions gains importance with the continuous development of artificial agents such as social robots or interactive mobile applications. We developed a prototype version of an abstract emotion visualization agent to express five basic emotions and a neutral state. In contrast to well-known symbolic characters (e.g., smileys) these displays follow general biological and ethological rules. We conducted a multiple questionnaire study on the assessment of the displays with Hungarian and Japanese subjects. In most cases participants were successful in recognizing the displayed emotions. Fear and sadness were most easily confused with each other while both the Hungarian and Japanese participants recognized the anger display most correctly. We suggest that the implemented biological approach can be a viable complement to the emotion expressions of some artificial agents, for example mobile devices.

In the human retina, rod and cone cells detect incoming light with a molecule called rhodopsin. After rhodopsin molecules are activated (by photon impact), these molecules activate the rest of the signalling process for a brief period of time until they are deactivated by a multistage process. First, active rhodopsin is phosphorylated multiple times. Following this, they are further inhibited by the binding of molecules called arrestins. Finally, they decay into opsins. The time required for each of these stages becomes progressively longer, and each stage further reduces the activity of rhodopsin. However, while this deactivation process itself is well researched, the roles of the above stages in signal (and image) processing are poorly understood. In this paper, we will show that the activity of rhodopsin molecules during the deactivation process can be described as the fractional integration of an incoming signal. Furthermore, we show how this affects an image; specifically, the effect of fractional integration in video and signal processing and how it reduces noise and the improves adaptability under different lighting conditions. Our experimental results provide a better understanding of vertebrate and human vision, and why the rods and cones of the retina differ from the light detectors in cameras.

In an increasing demand for human-robot collaboration systems, the need for safe robots is crucial. This paper presents a proactive strategy to enable an awareness of the current risk for the robot. The awareness is based upon a map of historically occupied space by the operator. The map is built based on a risk evaluation of each pose presented by the operator. The risk evaluation results in a risk field that can be used to evaluate the risk of a collaborative task. Based on this risk field, a control algorithm that constantly reduces the current risk within its task constraints was developed. Kinematic redundancy was exploited for simultaneous task performance within task constraints, and risk minimization. Sphere-based geometric models were used both for the human and robot. The strategy was tested in simulation, and implemented and experimentally tested on a NACHI MR20 7-axes industrial robot.