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Animals of different taxa can read and respond to various human communicative signals. Such a mechanism facilitates animals to acquire social information and helps them react in a context-dependent manner. Dogs have garnered extensive attention owing to their socio-cognitive skills and remarkable sensitivity to human social cues. For example, dogs readily respond to different human pointing gestures to locate hidden food rewards. However, a general inclination towards testing highly socialized pet dogs has resulted in a dearth of information on other sub-populations of dogs. Free-ranging dogs are one of the least socialized dog populations yet exhibit point-following behaviour flexibly. As a consequence of frequent negative interspecific interactions, they are typically wary of unfamiliar humans; thus, contextual recognition of human actions is paramount for these dogs to avoid potential conflict. However, the mechanisms influencing their point-following behaviour remain unidentified. We asked to what extent the informative-deceptive nature of cues and positive human interactions influence the interspecific communicative behaviour of these minimally socialized dogs. Using a point-following experiment with a 2 × 2 design, we focused on adult free-ranging dogs' behavioural adjustments. Dogs were randomly divided into two groups, with only one receiving brief social petting. Further, informative and deceptive cues were given to separate subsets within each group. Our findings suggest that brief social petting strongly affects the likelihood of free-ranging dogs' point-following tendencies. Dogs who received petting followed the pointing cues regardless of their informative or deceptive nature, whereas dogs who did not receive petting discriminated between informative and deceptive pointing. This study highlights the contribution of positive human interaction and informative-deceptive quality of cues in modulating the behavioural responses of free-ranging dogs in an interspecific communicative context.

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RESUMEN

The paper aims to present a mechatronic device able to micro-position the workpiece and to reject disturbances due to machining operation. A decoupling method is proposed for a parallel kinematic machine (PKM) fixturing platform composed by a 3-DoF flexure-based piezo-actuated mechanism. The parallel platform, with a vertical motion and two rotations, is described and its kinematics and dynamics are studied. The coupling undesirable effect is investigated based on a set of poses. To improve the quasi-static regulator model for a set-point following system, a bump less switching controller and a fine-tuning procedure, to estimate the parameter uncertainty and enable the external disturbance containment in an extended broadband frequency range, are presented. The platform and the piezo-actuator controllers are modelled based on a gain scheduling, standard ISA form method, to guarantee the stability. The accuracy is demonstrated through a set of simulations and experimental comparisons. A sensitivity analysis that evaluates the tracking performance and the disturbance rejection based on the number of signal amplitudes, frequencies, and phases is discussed. A validation phase has shown that the developed architecture presents a steady state error lower than 1.2 µm, a vibration reduction of 96% at 1130 Hz with a maximum resolving time of 6.60 ms.

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Dogs are one of the most common species to be found as pets and have been subjects of human curiosity, leading to extensive research on their socialization with humans. One of the dominant themes in dog cognition pertains to their capacity for understanding and responding to human referential gestures. The remarkable sociocognitive skills of pet dogs, while interacting with humans, is quite well established. However, studies regarding the free-ranging subpopulations are greatly lacking. The interactions of these dogs with humans are quite complex and multidimensional. For the first time, we tested 160 adult free-ranging dogs to understand their ability to follow relatively complex human referential gestures using dynamic and momentary distal pointing cues. We found that these dogs are capable of following distal pointing cues from humans to locate hidden food rewards. However, approximately half of the population tested showed a lack of tendency to participate even after successful familiarization with the experimental setup. A closer inspection revealed that anxious behavioral states of the individuals were responsible for such an outcome. Finally, we compared the results using data from an earlier study with dynamic proximal cues. We found that free-ranging dogs follow distal cues more accurately compared to proximal cue. We assume that life experiences with humans probably shape personalities of free-ranging dogs, which in turn influence their responsiveness to human communicative gestures.

RESUMEN

Several studies have examined dogs' (Canis lupus familiaris) comprehension and use of human communicative cues. Relatively few studies have, however, examined the effects of human affective behavior (i.e., facial and vocal expressions) on dogs' exploratory and point-following behavior. In two experiments, we examined dogs' frequency of following an adult's pointing gesture in locating a hidden reward or treat when it occurred silently, or when it was paired with a positive or negative facial and vocal affective expression. Like prior studies, the current results demonstrate that dogs reliably follow human pointing cues. Unlike prior studies, the current results also demonstrate that the addition of a positive affective facial and vocal expression, when paired with a pointing gesture, did not reliably increase dogs' frequency of locating a hidden piece of food compared to pointing alone. In addition, and within the negative facial and vocal affect conditions of Experiment 1 and 2, dogs were delayed in their exploration, or approach, toward a baited or sham-baited bowl. However, in Experiment 2, dogs continued to follow an adult's pointing gesture, even when paired with a negative expression, as long as the attention-directing gesture referenced a baited bowl. Together these results suggest that the addition of affective information does not significantly increase or decrease dogs' point-following behavior. Rather these results demonstrate that the presence or absence of affective expressions influences a dogs' exploratory behavior and the presence or absence of reward affects whether they will follow an unfamiliar adult's attention-directing gesture.

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