Towards Explainable Co-Robots: Developing Confidence-Based Shared Control Paradigms

2020 ◽  
Author(s):  
Daniel Saraphis ◽  
Vahid Izadi ◽  
Amirhossein Ghasemi
Keyword(s):  
Numerical Simulations ◽  
Shared Control ◽  
Automated System ◽  
Generic Model ◽  
Automation System ◽  
Steering Control ◽  
Control Paradigm ◽  
Control Framework ◽  
Automation Systems ◽  
Control Authority

Abstract In this paper, we aim to develop a shared control framework wherein the control authority is dynamically allocated between the human operator and the automation system. To this end, we have defined a shared control paradigm wherein the blending mechanism uses the confidence between a human and co-robot to allocate the control authority. To capture the confidence between the human and robot, qualitatively, a simple-but-generic model is presented wherein the confidence of human-to-robot and robot-to-human is a function of the human’s performance and robot’s performance. The computed confidence will then be used to adjust the level of autonomy between the two agents dynamically. To validate our novel framework, we propose case studies in which the steering control of a semi-automated system is shared between the human and onboard automation systems. The numerical simulations demonstrate the effectiveness of the proposed shared control paradigms.

Game Theoretic Modeling of a Steering Operation in a Haptic Shared Control Framework

2018 ◽  
Author(s):  
Amir H. Ghasemi
Keyword(s):  
Path Following ◽  
Open Loop ◽  
Shared Control ◽  
Automation System ◽  
Steering Control ◽  
Human Driver ◽  
Control Framework ◽  
Game Theoretic ◽  
Control Authority ◽  
Vehicle Trajectory

Haptic shared control is expected to achieve a smooth collaboration between humans and automated systems, because haptics facilitate mutual communication. This paper addresses a the interaction between the human driver and automation system in a haptic shared control framework using a non-cooperative model predictive game approach. In particular, we focused on a scenario in which both human and automation system detect an obstacle but select different paths for avoiding it. For such a scenario, the open-loop Nash steering control solution is derived and the influence of the human driver’s impedance and path following weights on the vehicle trajectory are investigated. It is shown that by modulating the impedance and the path following weight the control authority can be shifted between the human driver and the automation system.

Adaptive Impedance Control for the Haptic Shared Driving Task Based on Nonlinear MPC

2020 ◽  
Author(s):  
Vahid Izadi ◽  
Amir H. Ghasemi
Keyword(s):  
Cost Function ◽  
Impedance Control ◽  
Modulation Method ◽  
Steering Wheel ◽  
Automation System ◽  
Avoidance Task ◽  
Automation Systems ◽  
Control Command ◽  
Performance Error ◽  
Control Authority

Abstract This paper presents an adaptive haptic shared control framework wherein a driver and an automation system are physically connected through a motorized steering wheel. The automation system is modeled as an intelligent agent that is not only capable of making decisions but also monitoring the human’s behavior and adjusting its behavior accordingly. To enable the automation system to smoothly exchange the control authority with the human partner, this paper introduces a novel self-regulating impedance controller for the automation system. To determine an optimal modulation policy, a cost function is defined. The terms of the cost function are assigned to minimize the performance error and reduce the disagreement between the human and automation system. To solve the optimal control problem, we employed a nonlinear model predictive approach and used the continuation generalized minimum residual method to solve the nonlinear cost function. To demonstrate the effectiveness of the proposed approach, simulation studies consider a scenario where the human and the automation system both detect an obstacle and negotiate on controlling the steering wheel so that the obstacle can be avoided safely. The simulations involve four interaction modes addressing the cooperation status (cooperative and uncooperative) and the desired direction of the control transfer (active safety and autopilot). The results of the numerical studies show that when the automation system acts as autopilot, using the proposed modulation method, the automation adopts smaller impedance controller gains, which results in a smaller disagreement between the human and automation systems. On the other hand, when the human’s control command is insufficient, by modulating and adopting larger values for the impedance controller parameters, the automation system gains the control authority and ensures the safety of the obstacle avoidance task.

Adaptive Haptic Shared Control Framework Using Markov Decision Processing

2018 ◽  
Author(s):  
Amir H. Ghasemi ◽  
Hossein Rastgoftar
Keyword(s):  
Markov Decision Process ◽  
Decision Process ◽  
Human Perception ◽  
Shared Control ◽  
Manual Control ◽  
Automation System ◽  
Human Driver ◽  
Control Framework ◽  
Control Scheme ◽  
Markov Decision

Semi-autonomous steering promises to combine the best of human perception, planning, and manual control with the precision of automatic control. This paper presents an adaptive haptic shared control scheme using Markov Decision Process (MDP) to keep human drivers in the loop yet free attention and avoid automation pitfalls. Using MDP, algorithms are developed to support the negotiation of authority between the human driver and automation system.

scholarly journals Application of the Sequence Planner Control Framework to an Intelligent Automation System with a Focus on Error Handling

Machines ◽  
2021 ◽  
Vol 9 (3) ◽  
pp. 59
Author(s):  
Martin Dahl ◽  
Kristofer Bengtsson ◽  
Petter Falkman
Keyword(s):  
Autonomous Robots ◽  
Experimental Results ◽  
Automation System ◽  
Material Transport ◽  
Error Handling ◽  
Control Framework ◽  
Automation Systems ◽  
Human Operators ◽  
And Control ◽  
Assembly Tasks

Future automation systems are likely to include devices with a varying degree of autonomy, as well as advanced algorithms for perception and control. Human operators will be expected to work side by side with both collaborative robots performing assembly tasks and roaming robots that handle material transport. To maintain the flexibility provided by human operators when introducing such robots, these autonomous robots need to be intelligently coordinated, i.e., they need to be supported by an intelligent automation system. One challenge in developing intelligent automation systems is handling the large amount of possible error situations that can arise due to the volatile and sometimes unpredictable nature of the environment. Sequence Planner is a control framework that supports the development of intelligent automation systems. This paper describes Sequence Planner and tests its ability to handle errors that arise during execution of an intelligent automation system. An automation system, developed using Sequence Planner, is subjected to a number of scenarios where errors occur. The error scenarios and experimental results are presented along with a discussion of the experience gained in trying to achieve robust intelligent automation.

scholarly journals THE EFFECT OF SUPPLY AUTOMATION SYSTEMS TECHNICAL OPERATIONS READINESS OF INDONESIAN WARSHIP (CASE STUDY: DOPUSBEKTIM)

JOURNAL ASRO ◽  
2019 ◽  
Vol 10 (3) ◽  
pp. 160
Author(s):  
Antonius Fandiano
Keyword(s):  
Spare Parts ◽  
Automated System ◽  
Automation System ◽  
Eastern Region ◽  
Automation Systems ◽  
Distribution Process ◽  
Supporting Material ◽  
Supply Pattern ◽  
To Receive

In the system of guiding material for the Navy the spare parts are supporting material because of their nature as a provision that supports the maintenance of the main material so that it is always maintained and maintained its quality. The Eastern Region Procurement Center Depot or Dopusbektim is the Technical Implementation Unit (UPT) of Head quarter of Indonesian Navy Service, which has the duty and responsibility to receive, store, maintain and distribute provisions to the user unit or user unit including of Indonesian Warship In especially those located in the Koarmatim region or currently is Second Fleet of Indonesian Navy (Koarmada II). In supporting its duties and functions as a storage and distribution facility, Dopusbektim has a structured and implemented supply pattern supported by an automated system that uses special applications so that the distribution process can be carried out better in supporting technical operations readiness of Indonesian Warship. However, in carrying out the Dopusbektim debriefing, it was felt that it was not optimal although it was supported by infrastructure because there were still obstacles and obstacles. This results in Dopusbektim's duties and functions, one of which is providing services in order to support technical operations readiness of Indonesian Warship has not been maximized. Therefore it is necessary to analyze which effects need to be improved in optimally supporting technical operations readiness of Indonesian Warship .Keywords: Supplies Pattern, Automation System, Indonesian Warship Technical Operational Readiness, Multiple Regression analysis.

scholarly journals An Automation System for Controlling Streetlights and Monitoring Objects Using Arduino

Sensors ◽  
2018 ◽  
Vol 18 (10) ◽  
pp. 3178 ◽  
Author(s):  
Zain Mumtaz ◽  
Saleem Ullah ◽  
Zeeshan Ilyas ◽  
Naila Aslam ◽  
Shahid Iqbal ◽  
...  
Keyword(s):  
Large Scale ◽  
Low Cost ◽  
Automated System ◽  
Automation System ◽  
Infrared Sensors ◽  
Night Time ◽  
Require Time ◽  
The Road ◽  
Automation Systems ◽  
Objects Detection

We present an Arduino-based automation system to control the streetlights based on solar rays and object’s detection. We aim to design various systems to achieve the desired operations, which no longer require time-consuming manual switching of the streetlights. The proposed work is accomplished by using an Arduino microcontroller, a light dependent resistor (LDR) and infrared-sensors while, two main contributions are presented in this work. Firstly, we show that the streetlights can be controlled based on the night and object’s detection. In which the streetlights automatically turn to DIM state at night-time and turn to HIGH state on object’s detection, while during day-time the streetlights will remain OFF. Secondly, the proposed automated system is further extended to skip the DIM condition at night time, and streetlights turn ON based on the objects’ detection only. In addition, an automatic door system is introduced to improve the safety measurements, and most importantly, a counter is set that will count the number of objects passed through the road. The proposed systems are designed at lab-scale prototype to experimentally validate the efficiency, reliability, and low-cost of the systems. We remark that the proposed systems can be easily tested and implemented under real conditions at large-scale in the near future, that will be useful in the future applications for automation systems and smart homes.

scholarly journals Architecture For Automation System Metrics Collection, Visualization and Data Engineering – HAMK Sheet Metal Center Building Automation Case Study

2019 ◽  
Vol 9 (1) ◽  
pp. 561-570
Author(s):  
Khoa Dang ◽  
Igor Trotskii
Keyword(s):  
System Integration ◽  
Data Analytics ◽  
Building Energy ◽  
Facility Management ◽  
Automation System ◽  
Building Energy Efficiency ◽  
Building Automation ◽  
Automation Systems ◽  
Integration Data

AbstractEver growing building energy consumption requires advanced automation and monitoring solutions in order to improve building energy efficiency. Furthermore, aggregation of building automation data, similarly to industrial scenarios allows for condition monitoring and fault diagnostics of the Heating, Ventilations and Air Conditioning (HVAC) system. For existing buildings, the commissioned SCADA solutions provide historical trends, alarms management and setpoint curve adjustments, which are essential features for facility management personnel. The development in Internet of Things (IoT) and Industry 4.0, as well as software microservices enables higher system integration, data analytics and rich visualization to be integrated into the existing infrastructure. This paper presents the implementation of a technology stack, which can be used as a framework for improving existing and new building automation systems by increasing interconnection and integrating data analytics solutions. The implementation solution is realized and evaluated for a nearly zero energy building, as a case study.

scholarly journals Towards Industrial Intrusion Prevention Systems: A Concept and Implementation for Reactive Protection

2018 ◽  
Vol 8 (12) ◽  
pp. 2460 ◽  
Author(s):  
Cyntia Vargas Martínez ◽  
Birgit Vogel-Heuser
Keyword(s):  
Protection System ◽  
Automation System ◽  
Human Intervention ◽  
Timely Manner ◽  
Industrial Automation ◽  
Intrusion Prevention ◽  
Automation Systems ◽  
Operational Policies ◽  
Intrusion Prevention Systems ◽  
Industrial Automation Systems

System intrusions violate the security of a system. In order to maintain it, it is necessary to decrease the chances of intrusions occurring or by detecting them as soon as they ensue in order to respond to them in a timely manner. These responses are divided in two types: passive or reactive responses. Passive responses are limited to only notification and alerting; whereas, reactive responses influence the intrusion by undoing or diminishing its consequences. Unfortunately, some reactive responses may influence the underlying system where the intrusion has occurred. This is especially a concern in the field of Industrial Automation Systems, as these systems are critical and have a well-defined set of operational requirements that must be maintained. Hence, automatic reactive responses are often not considered or are limited to human intervention. This paper addresses this issue by introducing a concept for reactive protection that integrates the automatic execution of active responses that do not influence the operation of the underlying Industrial Automation System. This concept takes into consideration architectural and security trends, as well as security and operational policies of Industrial Automation Systems. It also proposes a set of reactive actions that can be taken in the presence of intrusions in order to counteract them or diminish their effects. The feasibility and applicability of the presented concept for Industrial Automation Systems is supported by the implementation and evaluation of a prototypical Reactive Protection System.

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