Subjective Evaluation for Maneuverability of a Robot Cooperating with Humans

2002 ◽  
Vol 14 (5) ◽  
pp. 514-519 ◽  
Author(s):  
Ryojun Ikeura ◽  
◽  
Hikaru Inooka ◽  
Kazuki Mizutani ◽  
Keyword(s):  
Control Systems ◽  
Impedance Control ◽  
Subjective Evaluation ◽  
Robot Controller ◽  
User Friendly ◽  
Force Characteristics

Robots will be expected to be user-friendly and to execute tasks in cooperation with humans. Control systems for such robots should be designed to work adapting to human characteristics. We have developed control for robots and humans cooperating in carrying an object. To make the robot controller, we studied cooperation force characteristics of two humans and developed variable impedance control for a robot. Variable impedance control for a robot we developed is evaluated subjectively. Results of subjective evaluation give the proposed variable impedance control high marks.

Navigating Through Video Stories Using Clustering Sets

2011 ◽  
Vol 2 (3) ◽  
pp. 1-20 ◽  
Author(s):  
Sheila M. Pinto-Cáceres ◽  
Jurandy Almeida ◽  
Vânia P. A. Neris ◽  
M. Cecília C. Baranauskas ◽  
Neucimar J. Leite ◽  
...  
Keyword(s):  
Subjective Evaluation ◽  
Video Data ◽  
Empirical Comparison ◽  
Interactive Search ◽  
Video Information ◽  
Novel Approach ◽  
Evolution Of Technology ◽  
Similar Content ◽  
User Friendly ◽  
Fast Evolution

The fast evolution of technology has led to a growing demand for video data, increasing the amount of research into efficient systems to manage those materials. Making efficient use of video information requires that data be accessed in a user-friendly way. Ideally, one would like to perform video search using an intuitive tool. Most of existing browsers for the interactive search of video sequences, however, have employed a too rigid layout to arrange the results, restricting users to explore the results using list- or grid-based layouts. This paper presents a novel approach for the interactive search that displays the result set in a flexible manner. The proposed method is based on a simple and fast algorithm to build video stories and on an effective visual structure to arrange the storyboards, called Clustering Set. It is able to group together videos with similar content and to organize the result set in a well-defined tree. Results from a rigorous empirical comparison with a subjective evaluation show that such a strategy makes the navigation more coherent and engaging to users.

Influence of Window Views on the Subjective Evaluation of Discomfort Glare

2010 ◽  
Vol 20 (1) ◽  
pp. 65-74 ◽  
Author(s):  
Geun Young Yun ◽  
Ju Young Shin ◽  
Jeong Tai Kim
Keyword(s):  
Control Systems ◽  
Subjective Evaluation ◽  
Subjective Assessment ◽  
Potential Effect ◽  
Psychological Factor ◽  
Future Design ◽  
Subjective Assessments ◽  
Discomfort Glare ◽  
The Difference

A window is an indispensable element in a building and acts as a view-giving component that keeps occupants in touch with the outside. This study investigated the potential effect of different window views on the subjective assessment of discomfort glare from a simulated window that rendered blank, natural and man-made views from far to close distances. Forty-eight subjects (24 men, 24 women) participated in the experiments. The experimental results confirmed that the subjective evaluation of discomfort glare can vary with the type of window views presented. The results also indicated that there were noticeable variations in the subjective assessments of discomfort glare over the same visual stimuli. A preliminary criterion for classification of subjects’ sensitivity to glare was illustrated and the difference for the ‘‘glare-sensitive’’ and ‘‘glareinsensitive’’ people was statistically significant. This study found that the psychological factor such as window views could be an important factor in the subjective evaluation of discomfort glare. Widely used glare evaluation formulas such as unified glare rating and daylight glare index would not consider psychological factors. Thus, the finding from this study would contribute to a more realistic evaluation of discomfort glare for future design of glare control systems.

An Open Code for the Dynamic Simulation of Multibody Systems

2004 ◽  
Author(s):  
Pietro Fanghella ◽  
Carlo Galletti ◽  
Giorgio Torre
Keyword(s):  
Control Systems ◽  
Multibody Systems ◽  
Object Oriented ◽  
General Purpose ◽  
External Control ◽  
Common Environment ◽  
Flexible Bodies ◽  
Kinematic Chains ◽  
Dynamic Simulator ◽  
User Friendly

The paper presents several features of a dynamic simulator for multibody systems. Its main characteristics are the following: it can deal with mechanisms with open and closed kinematic chains, allows definitions of rigid and flexible bodies, permits definitions of complex non-standard dynamic actions by a powerful and well-known general-purpose simulation package, and provides links to user-friendly interfaces for result displaying and interfacing with external control systems. In order to perform all these actions, a common environment based on Matlab has been established. The software is implemented using the Matlab object-oriented language. The first part of the paper provides a basic discussion of the mathematical approach followed to model multibody systems, then the actual software implementation is described. The designed software architecture is open and allows great model generality; moreover, the software can be optimized and tailored to specific multibody models in order to obtain good computational efficiency. Integration aspects in Simulink and VRML environments are analyzed.

Smooth adaptive hybrid impedance control for robotic contact force tracking in dynamic environments

2020 ◽  
Vol 47 (2) ◽  
pp. 231-242
Author(s):  
Hongli Cao ◽  
Ye He ◽  
Xiaoan Chen ◽  
Xue Zhao
Keyword(s):  
Contact Force ◽  
High Speed ◽  
Impedance Control ◽  
Tracking Error ◽  
Industrial Robots ◽  
Force Response ◽  
Impedance Function ◽  
Content Type ◽  
Robot Controller ◽  
Force Tracking

Purpose The purpose of this paper is to take transient contact force response, overshoots and steady-state force tracking error problems into account to form an excellent force controller. Design/methodology/approach The basic impedance function with a pre-PID tuner is designed to improve the force response. A dynamic adaptive adjustment function that combines the advantages of hybrid impedance and adaptive hybrid impedance control is presented to achieve both force overshoots suppressing and tracking ability. Findings The introduced pre-PID tuner impedance function can achieve more than the pure impedance function in aspects of converging to the desired value and reducing the force overshoots. The performance of force overshoots suppression and force tracking error are maintained by introducing the dynamic adaptive sigma adjustment function. The simulation and experimental results both show the achieved control performance by comparing with the previous control methods. Practical implications The implementation of the controller is easy and convenient in practical manufacture scenes that require force control using industrial robots. Originality/value A superior robot controller adapting to a variety of complex tasks owing to the following characteristics: maintenance of high-accuracy position tracking capability in free-space (basic capabilities of modern industrial robots); maintenance of high speed, stability and smooth contact performance in collision stage; and presentation of high-precision force tracking capability in steady contact.

Lighting controls: a field study of office workers’ reactions

2001 ◽  
Vol 33 (2) ◽  
pp. 77-94 ◽  
Author(s):  
S Escuyer ◽  
M Fontoynont
Keyword(s):  
Control System ◽  
Remote Control ◽  
Control Systems ◽  
Office Workers ◽  
Artificial Light ◽  
Lighting Control ◽  
Light Levels ◽  
Task Lighting ◽  
Illuminance Level ◽  
User Friendly

This paper reports a qualitative study of the acceptability of lighting control systems by 41 French office workers, in three sites with dimmable lighting, respectively with manual, semi-manual, and automatic control. The analysis of the results aimed to determine the characteristics of an ideal lighting control system. It appeared that the occupants found automatic continuous daylight-linked systems discreet, but they needed to be able to override them. The complexity of the remote control has led occupants to under-exploit it. Many occupants chose lower artificial light levels when daylight was bright, in order to benefit more from daylight. Automatic dimming with manual choice of illuminance level, optional task lighting, and user friendly control, may be the key elements of an ideal lighting control system.

A Study on Applying Human-Centered Automation to Network Control Systems in E-Manufacturing

2010 ◽  
Vol 156-157 ◽  
pp. 1467-1470
Author(s):  
Wei Jung Shiang ◽  
Hsin Rau ◽  
Po Tsang B. Huang
Keyword(s):  
Control System ◽  
Control Systems ◽  
Subjective Evaluation ◽  
Network Control ◽  
Monitoring And Control ◽  
Network Control System ◽  
Elapsed Time ◽  
Level Of Automation ◽  
Performance Indexes ◽  
Network Control Systems

The advantages of applying Internet in E-manufacturing are lower cost, enhancing distances in remote monitoring and control, but it may have time delay problem and it could decrease system performance and stability. In order to keep network control system more stable and effective, a human-centered automation approach was proposed in the network control system. Experiments were designed to identify significant factors of these network control systems, and the task was to command a mobile robot to complete the maze exploration with five kinds of human-centered network control systems. Total elapsed time and subjective evaluation are performance indexes and defined as dependent variables. Furthermore, personal hobby and level of automation for the network control system are independent variables. According to ANOVA results, level of automation indeed has a significant impact on the network control performance. The manual control obtained highest performance in total elapsed time of completing the task. It also showed that it is feasible to apply human centered automation in E-manufacturing.

A Hybrid Joystick with Impedance Control for a Stable Remote Control of a Mobile Robot

2019 ◽  
Vol 16 (01) ◽  
pp. 1950005
Author(s):  
Donghyuk Lee ◽  
Jangmyung Lee
Keyword(s):  
Mobile Robot ◽  
Control Systems ◽  
Degrees Of Freedom ◽  
Impedance Control ◽  
Steering Control ◽  
Six Degrees Of Freedom ◽  
The Road ◽  
Actual Direction ◽  
Yaw Angle ◽  
And Control

A new hybrid joystick has been developed to share the six degrees of freedom (DOF) by three DOF inputs and three DOF feedback signals. For remotely controlling a mobile robot, steering and acceleration commands can be generated by a 3-DOF joystick using [Formula: see text], [Formula: see text], and [Formula: see text] directional motions, respectively. Usually, a remote operator cannot clearly watch dynamically changing terrain conditions; therefore, it is necessary to feedback the slope and tilt conditions of the road to the operator through the joystick. These values can be obtained based on the inertial navigation system (INS) and feedback to the joystick as kind of reflection forces. Further, a yaw angle has been used to feedback the actual direction of the robot through a steering control. The mechanism and control systems of the hybrid joystick are newly designed, and the effectiveness of this hybrid joystick has been verified through actual remote operation of a mobile robot driving on slanted and tilted terrain.

Development of User-friendly Tuning for Impedance Control Parameters

2001 ◽  
Vol 13 (3) ◽  
pp. 230-237
Author(s):  
Junji shimamura ◽  
◽  
Masaki Arao ◽  
Keyword(s):  
Control System ◽  
Force Control ◽  
Impedance Control ◽  
External Environment ◽  
Parameter Tuning ◽  
Control Parameters ◽  
Trial And Error ◽  
Impedance Parameters ◽  
User Friendly ◽  
Ic Test

Impedance control, a type of indirect force control, is a method for providing a control system with compliance against forces effected by external environment. This method is expected to be applied primarily to industrial purposes, but it has such disadvantages that the process for tuning its parameters is based on a trial-and-error rule and largely depends on the controlling skill of operators. This paper describes a parameter tuning tool capable of readily setting the optimum impedance parameters and then clarifies the effectiveness of the suggested tool according to the results of experiments conducted on IC test inserter. Operators are not necessarily required to acquire the knowledge about impedance control.

scholarly journals Online Reconfiguration of Distributed Robot Control Systems for Modular Robot Behavior Implementation

2020 ◽  
Vol 100 (3-4) ◽  
pp. 1283-1308
Author(s):  
Malte Wirkus ◽  
Sascha Arnold ◽  
Elmar Berghöfer
Keyword(s):  
Control Systems ◽  
Robot Control ◽  
Autonomous Robots ◽  
High Complexity ◽  
Software Developer ◽  
Robot Controller ◽  
Software Complexity ◽  
Robot Behavior ◽  
Development Approach ◽  
Operational Modes

AbstractThe use of autonomous robots in areas that require executing a broad range of different tasks is currently hampered by the high complexity of the software that adapts the robot controller to different situations the robot would face. Current robot software frameworks facilitate implementing controllers for individual tasks with some variability, however, their possibilities for adapting the controllers at runtime are very limited and don’t scale with the requirements of a highly versatile autonomous robot. With the software presented in this paper, the behavior of robots is implemented modularly by composing individual controllers, between which it is possible to switch freely at runtime, since the required transitions are calculated automatically. Thereby the software developer is relieved of the task to manually implement and maintain the transitions between different operational modes of the robot, what largely reduces software complexity for larger amounts of different robot behaviors. The software is realized by a model-based development approach. We will present the metamodels enabling the modeling of the controllers as well as the runtime architecture for the management of the controllers on distributed computation hardware. Furthermore, this paper introduces an algorithm that calculates the transitions between two controllers. A series of technical experiments verifies the choice of the underlying middleware and the performance of online controller reconfiguration. A further experiment demonstrates the applicability of the approach to real robotics applications.

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