Sharif Digital Repository

This study investigated native English speakers’ and English as a foreign language (EFL) learners’ perception of (im)politeness. Seventy-five native speakers and 177 EFL learners were administered a discourse completion task for the speech act of apology accompanied by responses violating politeness by various degrees. Participants were asked to assess the degree of (im)politeness embedded in each response and to write down their assessment comments. Content analysis of respondents’ comments indicated that both groups mentioned similar (im)politeness criteria. However, the analysis of frequency counts displayed significant differences between the two groups in their degree of preference for... 

Although there are studies on the pragmatic assessment, to date no research has been done on native English raters' criteria for the assessment of EFL learners' pragmatic competence. Focusing on this topic, this study pursued two purposes. The first one was to find the criteria for rating the speech act of apology in L2 by native English teachers. The second was to investigate whether there was rater bias in native English teachers' rating of apology. To this end, 51 native English teachers rated six different pragmatic situations for an apology discourse completion task (DCT) which were accompanied by an L2 learner's response to each situation. Besides rating, the raters were asked to... 

This paper presents the design characteristics of a new robot Assistant for Social Aims (RASA), being an upper-torso humanoid robot platform currently under final stages of development. This project addresses the need for developing affordable humanoid platforms designed to be utilized in new areas of social robotics research, primarily teaching Persian Sign Language (PSL) to children with hearing disabilities. RASA is characterized by three features which are hard to find at the same time in today’s humanoid robots: its dexterous hand-arm systems enabling it to perform sign language, low development cost, and easy maintenance. In this paper, design procedures and considerations are briefly... 

Needs analysis is the key step to designing relevant and useful courses in English for Specific Purposes (ESP), but finding ways to deliver needs in a motivating and interesting way is also paramount. Therefore, investigating students’ motivation to learn ESP is central in needs analysis. Few studies have investigated needs from the perspective of ESP learners’ motivation. Focussing on engineering fields at three Iranian state universities, this study aimed to identify factors that affect engineering students’ motivation for learning technical English in ESP courses. Using a mixed method design, this study was conducted in two phases. In the first phase, semi-structured interviews with 40... 

In recent years the development of Simultaneous Localization and Mapping (SLAM) techniques have enabled social robots to autonomously navigate in routine human workplaces. However, most common SLAM techniques are developed for mapping and localization in static worlds. In this paper, we have developed and analyzed a novel augmentation of the FastSLAM algorithm, including a person tracking module using 2D LiDAR sensor data. Utilizing this module, the SLAM algorithm is capable of filtering measurements coming from walking people who produce noises due to their intrinsic dynamic and unstableness. This augmentation was developed and then tested on our socially assistive mobile robot platform,... 

Needs analysis is the key step to designing relevant and useful courses in English for Specific Purposes (ESP), but finding ways to deliver needs in a motivating and interesting way is also paramount. Therefore, investigating students’ motivation to learn ESP is central in needs analysis. Few studies have investigated needs from the perspective of ESP learners’ motivation. Focussing on engineering fields at three Iranian state universities, this study aimed to identify factors that affect engineering students’ motivation for learning technical English in ESP courses. Using a mixed method design, this study was conducted in two phases. In the first phase, semi-structured interviews with 40... 

Reciprocal interaction and facial expression are some of the most interesting topics in the fields of social and cognitive robotics. On the other hand, children with autism show a particular interest toward robots, and facial expression recognition can improve these children’s social interaction abilities in real life. In this research, a robotic platform has been developed for reciprocal interaction consisting of two main phases, namely as Non-structured and Structured interaction modes. In the Non-structured interaction mode, a vision system recognizes the facial expressions of the user through a fuzzy clustering method. The interaction decision-making unit is combined with a fuzzy finite... 

This paper introduces a novel robotic platform, called RASA (Robot Assistant for Social Aims). This educational social robot is designed and constructed to facilitate teaching Persian Sign Language (PSL) to children with hearing disabilities. There are three predominant characteristics from which design guidelines of the robot are generated. First, the robot is designed as a fully functional interactive social robot with children as its social service recipients. Second, it comes with the ability to perform PSL, which demands a dexterous upper-body of 29 actuated degrees of freedom. Third, it has a relatively low development cost for a robot in its category. This funded project, addresses... 

In this paper, three pairs of children with autism include a pair of twins, two siblings, and two classmates were enrolled in a 12-session robot-assisted group-games program. As many environmental factors were for the most part the same for the siblings as well as genetic factors for the twins, we were able to observe/compare the effect of the designed games on the participants individually and in paired-groups. The results indicated that all participants’ autism severity decreased after the course of the program. Improvement in social skills, social participation/avoidance, and detrimental social behaviors were also observed in the participants with high-functioning autism with close to... 

Social robots may soon be able to play an important role in expanding communication with the deaf. Based on the literature, adaptive user interfaces lead to greater user acceptance and increased teaching efficiency compared to non-adaptive ones. In this paper, we build a robotic architecture able to simultaneously adjust a robot’s teaching parameters according to both the user’s past and present performance, adapt the content of the training, and then implement it on the RASA robot to teach sign language based on these parameters in a manner similar to a human teacher. To do this, a word to teach in sign language, repetition, speed, and emotional valence were chosen to be adaptive using a... 

This paper addresses the lack of proper Learning from Demonstration (LfD) architectures for Sign Language-based Human–Robot Interactions to make them more extensible. The paper proposes and implements a Learning from Demonstration structure for teaching new Iranian Sign Language signs to a teacher assistant social robot, RASA. This LfD architecture utilizes one-shot learning techniques and Convolutional Neural Network to learn to recognize and imitate a sign after seeing its demonstration (using a data glove) just once. Despite using a small, low diversity data set (~ 500 signs in 16 categories), the recognition module reached a promising 4-way accuracy of 70% on the test data and showed... 

Autistic children are often impaired in initiating and responding to Joint Attention. In recent years, there has been an increase in the application of robots in diagnosis and treatment of autism. The purpose of the current research has been primarily to originate the proper therapeutic scenarios and to implement two interactive humanoid robots as therapy assistants in autism treatment in Iran. To this end, the humanoid robots were programmed and teleoperated via Microsoft Kinect Sensor and PhantomOmni Haptic Robot to elicit reactions consisting of imitation of humans by the humanoid robots and vice versa. In this paper, we elaborate on the therapeutic items that we have designed to improve... 

One of the main issues in the field of social and cognitive robotics is the robot’s ability to recognize emotional states and emotional interaction between robots and humans. Through effective emotional interaction, robots will be able to perform many tasks in human society. In this research, we have developed a robotic platform and a vision system to recognize the emotional state of the user through its facial expressions, which leads to a more realistic humanrobot interaction (HRI). First, a number of features are extracted according to points detected by a vision system from the face of the user. Then, the emotional state of the user is analyzed with the help of these features. For the... 

Music-based therapy is an appropriate tool to facilitate multisystem development in children with autism. The focus of this study is to implement a systematic and hierarchical music-based scenario in order to teach the fundamentals of music to children with autism through a social robot. To this end, we have programmed a NAO robot to play the xylophone and the drum. After running our designed robot-assisted clinical interventions on three high-functioning and one low functioning autistic children, fairly promising results have been observed. We indicated that the high-functioning participants have learned how to play the musical notes, short sentences, and simple rhythms. Moreover, the... 

No-one likes being confined to a hospital bed. Children particularly can feel lonely, bored or frightened in these conditions. Hours feel like days, and they may not be able to fully comprehend why they are there. Among kids hospitalized because of distinct diseases, children with cancer have incomparable status and needs. They experience physical and mental problems caused by cancer and medications. Cancer treatment may cause distress which can lessen the effectiveness of the treatment. Utilizing social robots to interact with children in clinical environments has been verified to both diminish their distress level and enhance the effectiveness of the treatment process. To improve the... 

This paper introduces a novel robotic platform, called RASA (Robot Assistant for Social Aims). This educational social robot is designed and constructed to facilitate teaching Persian Sign Language (PSL) to children with hearing disabilities. There are three predominant characteristics from which design guidelines of the robot are generated. First, the robot is designed as a fully functional interactive social robot with children as its social service recipients. Second, it comes with the ability to perform PSL, which demands a dexterous upper-body of 29 actuated degrees of freedom. Third, it has a relatively low development cost for a robot in its category. This funded project, addresses... 

Sign language is a non-verbal communication tool used by the deaf. A robust sign language recognition framework is needed to develop Human–Robot Interaction (HRI) platforms that are able to interact with humans via sign language. Iranian sign language (ISL) is composed of both static postures and dynamic gestures of the hand and fingers. In this paper, we present a robust framework using a Deep Neural Network (DNN) to recognize dynamic ISL gestures captured by motion capture gloves in Real-Time. To this end, first, a dataset of fifteen ISL classes was collected in time series; then, this dataset was virtually augmented and pre-processed using the “state-image” method to produce a unique... 

This article endeavors to present the impact of conducting robot-assisted music-based intervention sessions for children with low-functioning (LF) autism. To this end, a drum/xylophone playing robot is used to teach basic concepts of how to play the instruments to four participants with LF autism during nine educational sessions. The main findings of this study are compared to similar studies conducted with children with high-functioning autism. Our main findings indicated that the stereotyped behaviors of all the subjects decreased during the course of the program with an approximate large Cohen’s d effect size. Moreover, the children showed some improvement in imitation, joint attention,... 

Technology is inevitable, and its role for clinical therapists and specialists cannot be ignored. The promising movement towards computer-based interventions, specifically the use of tablets as an effective and newly developed learning device for children with autism spectral disorder (ASD) highlights the role of technology in addressing the shortcomings of conventional therapy methods. In this paper, we present a new application, named as Xylotism, which is an interactive game to improve learning and teach music to children with autism spectrum disorder. The game can be played with/without parents/therapists’ involvement, which increases its usefulness and effectiveness. We have... 

This paper presents the design process and construction of a mobile social robot companion "Arash" for educational and therapeutic intervention for children with chronic diseases; one which is based on their interests and needs. This study concentrates on children with cancer who suffer from physical pain caused by both the disease and its treatment. Moreover, cancer treatment causes emotional distress, which can reduce the efficiency of medications. Using social robots to interact with ill children in a hospital environment could decrease their distress, thereby improving the efficiency of the treatment. Arash is a 15 degrees-of-freedom cost effective humanoid mobile robot companion,...