scholarly journals Telelocomotion—Remotely Operated Legged Robots

2020 ◽  
Vol 11 (1) ◽  
pp. 194
Author(s):  
Kevin Huang ◽  
Divas Subedi ◽  
Rahul Mitra ◽  
Isabella Yung ◽  
Kirkland Boyd ◽  
...  
Keyword(s):  
Emergency Response ◽  
Haptic Feedback ◽  
Legged Locomotion ◽  
Legged Robots ◽  
Human Control ◽  
High Profile ◽  
Virtual Fixtures ◽  
Human Operators ◽  
Underwater Manipulation ◽  
High Level

Teleoperated systems enable human control of robotic proxies and are particularly amenable to inaccessible environments unsuitable for autonomy. Examples include emergency response, underwater manipulation, and robot assisted minimally invasive surgery. However, teleoperation architectures have been predominantly employed in manipulation tasks, and are thus only useful when the robot is within reach of the task. This work introduces the idea of extending teleoperation to enable online human remote control of legged robots, or telelocomotion, to traverse challenging terrain. Traversing unpredictable terrain remains a challenge for autonomous legged locomotion, as demonstrated by robots commonly falling in high-profile robotics contests. Telelocomotion can reduce the risk of mission failure by leveraging the high-level understanding of human operators to command in real-time the gaits of legged robots. In this work, a haptic telelocomotion interface was developed. Two within-user studies validate the proof-of-concept interface: (i) The first compared basic interfaces with the haptic interface for control of a simulated hexapedal robot in various levels of traversal complexity; (ii) the second presents a physical implementation and investigated the efficacy of the proposed haptic virtual fixtures. Results are promising to the use of haptic feedback for telelocomotion for complex traversal tasks.

Exploring The Effect of Visual Information Degradation on Human Perception and Performance In A Human-Telerobot System

2020 ◽  
Vol 64 (1) ◽  
pp. 1302-1307
Author(s):  
Richard Stone ◽  
Minglu Wang ◽  
Thomas Schnieders ◽  
Esraa Abdelall
Keyword(s):  
Visual Information ◽  
Human Perception ◽  
Low Level ◽  
Hit Rate ◽  
Word Level ◽  
Level Of Automation ◽  
Significant Difference ◽  
Human Operators ◽  
And Performance ◽  
High Level

Human-robotic interaction system are increasingly becoming integrated into industrial, commercial and emergency service agencies. It is critical that human operators understand and trust automation when these systems support and even make important decisions. The following study focused on human-in-loop telerobotic system performing a reconnaissance operation. Twenty-four subjects were divided into groups based on level of automation (Low-Level Automation (LLA), and High-Level Automation (HLA)). Results indicated a significant difference between low and high word level of control in hit rate when permanent error occurred. In the LLA group, the type of error had a significant effect on the hit rate. In general, the high level of automation was better than the low level of automation, especially if it was more reliable, suggesting that subjects in the HLA group could rely on the automatic implementation to perform the task more effectively and more accurately.

Design and Kinematic Simulation of a Novel Leg Mechanism for Multi-Legged Robots

2021 ◽  
Author(s):  
Simone Asci ◽  
Ketao Zhang
Keyword(s):  
Legged Locomotion ◽  
Design Strategy ◽  
Research Field ◽  
Original Model ◽  
Legged Robots ◽  
Robotic Systems ◽  
Complex Control System ◽  
Robotic Leg ◽  
Novel Design ◽  
Original Configuration

Abstract Among mobile robotic research field, legged locomotion is largely applied for advanced robotic systems due to the higher degree of versatility compared to wheeled robots, which allows them to successfully move and interact in unstructured environments; nevertheless, legged robots present several designing problems and require a much more complex control system. Based on an effective robotic leg, this paper presents a novel design, which integrates a cam joint, aimed to improve the versatility performances minimizing changes in the original model and without increasing the control complexity. Furthermore, the design strategy aims to exploit the coupled action of two actuators, which are disposed in a novel configuration so to gain versatility advantage while maintaining velocity performances of legs equipped with a single actuator. The model is presented through a kinematic analysis, followed by the simulation of the leg mechanism trajectory and a comparison with the original configuration.

scholarly journals Before and After the Weser Case: Legal Application of the Water Framework Directive Environmental Objectives in Sweden

2019 ◽  
Vol 31 (2) ◽  
pp. 265-290 ◽  
Author(s):  
Johanna Söderasp ◽  
Maria Pettersson
Keyword(s):  
Water Framework Directive ◽  
Water Governance ◽  
Court Cases ◽  
Eu Law ◽  
Governance System ◽  
High Profile ◽  
Environmental Objectives ◽  
Before And After ◽  
Judicial Implementation ◽  
High Level

Abstract The EU Water Framework Directive (WFD) prescribes environmental objectives and an adaptive water governance system. This article analyses the Swedish implementation of the WFD through a review of high-profile Swedish court cases regarding the application of the WFD environmental objectives in individual authorisation processes for water operations. The selection of court cases represents both the time before and after the Court of Justice of the European Union’s Weser case in 2015. The results indicate an inertial tendency in the legal application of the WFD environmental objectives in Swedish courts, including a reluctance to fully apply EU law as interpreted by the CJEU. The overall conclusion is that traditional legal certainty aspects often trump flexibility and a high level of environmental protection as desired in the adaptive water governance system of the WFD. This raises questions about judicial preconceptions and the procedural autonomy of the Member States vis-à-vis the ‘effet utile’ of EU law through judicial implementation.

Collaborative Autonomy between High-level Behaviors and Human Operators for Remote Manipulation Tasks using Different Humanoid Robots

2016 ◽  
Vol 34 (2) ◽  
pp. 333-358 ◽  
Author(s):  
Alberto Romay ◽  
Stefan Kohlbrecher ◽  
Alexander Stumpf ◽  
Oskar von Stryk ◽  
Spyros Maniatopoulos ◽  
...  
Keyword(s):  
Humanoid Robots ◽  
Remote Manipulation ◽  
Human Operators ◽  
High Level ◽  
Collaborative Autonomy

Spaces of Intentionality: Race, Class, and Horizontality at the United States Social Forum

2008 ◽  
Vol 13 (4) ◽  
pp. 353-372 ◽  
Author(s):  
Jeffrey Juris
Keyword(s):  
United States ◽  
Middle Class ◽  
Open Space ◽  
The United States ◽  
World Social Forum ◽  
High Profile ◽  
Democratic Practice ◽  
The World ◽  
High Level

The World Social Forum process has sought to provide an "open space" for diverse movements to exchange ideas, interact, and coordinate as they build another world. Despite this inclusive impulse, many of the forums have been disproportionately white and middle class. Through an ethnographic account of the 2007 United States Social Forum (USSF) in Atlanta, I examine one high-profile attempt to overcome this lack of diversity by establishing what I refer to as an "intentional" space. I argue that the intentional strategy pursued by USSF organizers achieved a high level of diversity in racial and class terms, but de-emphasized the role of the forum as a "contact zone" for translation, sharing, and exchange among diverse movement sectors. However, given the strong desire to overcome past exclusions among participants, the privileging of intentionality over openness and horizontality was widely viewed as legitimate, which has important implications for democratic practice.

The role of augmented reality in robotics

2020 ◽  
Vol 47 (6) ◽  
pp. 789-794
Author(s):  
Robert Bogue
Keyword(s):  
Augmented Reality ◽  
Design Methodology ◽  
Haptic Feedback ◽  
Historical Background ◽  
Content Type ◽  
Virtual Fixtures ◽  
Research Activities ◽  
Insight Into ◽  
Positional Control

Purpose The purpose of this paper is to provide an insight into how augmented reality (AR) technologies are being applied to robotics. Design/methodology/approach Following an introduction and a brief historical background to AR, this first provides examples of AR applications in robot programming. It then gives examples of recent research into AR-based robot teleoperation. Research activities involving the virtual fixtures (VF) technique are then discussed and finally, brief conclusions are drawn. Findings Because AR concepts were first investigated in the 1990s, applications involving robotics have been widely studied. Programming with the aid of AR devices, such as the HoloLens headset, can be simplified and AR methods, including the VF technique, can improve the accuracy and speed of teleoperation, manipulation and positional control tasks. They can also provide visual or haptic feedback which leads to more intuitive operation and significantly reduces the cognitive load on the operator. Originality/value This provides an insight into the growing role of AR in robotics by providing examples of recent research in a range of applications.

scholarly journals A Robotic Cognitive Architecture for Slope and Dam Inspections

Sensors ◽  
2020 ◽  
Vol 20 (16) ◽  
pp. 4579 ◽  
Author(s):  
Milena F. Pinto ◽  
Leonardo M. Honorio ◽  
Aurélio Melo ◽  
Andre L. M. Marcato
Keyword(s):  
Decision Making ◽  
Cognitive Architecture ◽  
Electrical Power ◽  
Data Gathering ◽  
Path Following ◽  
Sensors And Actuators ◽  
Construction Enterprises ◽  
Performance Quality ◽  
Human Operators ◽  
High Level

Big construction enterprises, such as electrical power generation dams and mining slopes, demand continuous visual inspections. The sizes of these structures and the necessary level of detail in each mission requires a conflicting set of multi-objective goals, such as performance, quality, and safety. It is challenging for human operators, or simple autonomous path-following drones, to process all this information, and thus, it is common that a mission must be repeated several times until it succeeds. This paper deals with this problem by developing a new cognitive architecture based on a collaborative environment between the unmanned aerial vehicles (UAVs) and other agents focusing on optimizing the data gathering, information processing, and decision-making. The proposed architecture breaks the problem into independent units ranging from sensors and actuators up to high-level intelligence processes. It organizes the structures into data and information; each agent may request an individual behavior from the system. To deal with conflicting behaviors, a supervisory agent analyzes all requests and defines the final planning. This architecture enables real-time decision-making with intelligent social behavior among the agents. Thus, it is possible to process and make decisions about the best way to accomplish the mission. To present the methodology, slope inspection scenarios are shown.

The Domestic Fruits of Diplomacy: Mediation and Presidential Approval

2013 ◽  
Vol 18 (2) ◽  
pp. 195-217 ◽  
Author(s):  
James P. Todhunter
Keyword(s):  
Foreign Policy ◽  
Media Coverage ◽  
Us Foreign Policy ◽  
Third Party ◽  
Presidential Approval ◽  
The Public ◽  
High Profile ◽  
Approval Rating ◽  
National Leaders ◽  
High Level

Abstract The notion that national leaders use foreign policy actions for domestic political benefit is widely accepted in the foreign policy literature, but has only been studied with regard to foreign policy involving the use of force. Literature on third-party mediation has emerged separately and has not taken mediators’ domestic political motivations and constraints into account when explaining mediation occurrence and outcomes. Diplomatic efforts such as mediation should be appealing to leaders seeking to impress their domestic audience because it provides them with a low risk opportunity to appear competent to their domestic audience. While mediation is a regular occurrence in US foreign policy, its public visibility varies greatly. However, models of presidential media coverage suggest that media outlets are likely to pay a disproportionate amount of attention to presidents and their high level surrogates while engaging in diplomacy overseas. The article proposes that the higher the profile of the official an administration sends to mediate a crisis overseas, the greater the increase in the president’s approval rating. Additionally, the public’s attentiveness to foreign policy should condition the effect of a high profile mediator on presidential approval. As foreign policy becomes more salient to the public, the effect of a higher profile mediator on presidential approval should be greater. Empirical results support the argument.

scholarly journals DAQExpert the service to increase CMS data-taking efficiency

2020 ◽  
Vol 245 ◽  
pp. 01028
Author(s):  
Gilbert Badaro ◽  
Ulf Behrens ◽  
James Branson ◽  
Philipp Brummer ◽  
Sergio Cittolin ◽  
...  
Keyword(s):  
Human Error ◽  
Expert Knowledge ◽  
Critical Role ◽  
Operational Experience ◽  
Software Failure ◽  
Level Trigger ◽  
Cms Experiment ◽  
Human Operators ◽  
High Level ◽  
In The Beginning

The Data Acquisition (DAQ) system of the Compact Muon Solenoid (CMS) experiment at the LHC is a complex system responsible for the data readout, event building and recording of accepted events. Its proper functioning plays a critical role in the data-taking efficiency of the CMS experiment. In order to ensure high availability and recover promptly in the event of hardware or software failure of the subsystems, an expert system, the DAQ Expert, has been developed. It aims at improving the data taking efficiency, reducing the human error in the operations and minimising the on-call expert demand. Introduced in the beginning of 2017, it assists the shift crew and the system experts in recovering from operational faults, streamlining the post mortem analysis and, at the end of Run 2, triggering fully automatic recovery without human intervention. DAQ Expert analyses the real-time monitoring data originating from the DAQ components and the high-level trigger updated every few seconds. It pinpoints data flow problems, and recovers them automatically or after given operator approval. We analyse the CMS downtime in the 2018 run focusing on what was improved with the introduction of automated recovery; present challenges and design of encoding the expert knowledge into automated recovery jobs. Furthermore, we demonstrate the web-based, ReactJS interfaces that ensure an effective cooperation between the human operators in the control room and the automated recovery system. We report on the operational experience with automated recovery.

scholarly journals Mixed Reality-Enhanced Intuitive Teleoperation with Hybrid Virtual Fixtures for Intelligent Robotic Welding

2021 ◽  
Vol 11 (23) ◽  
pp. 11280
Author(s):  
Yun-Peng Su ◽  
Xiao-Qi Chen ◽  
Tony Zhou ◽  
Christopher Pretty ◽  
J. Geoffrey Chase
Keyword(s):  
Haptic Feedback ◽  
Mixed Reality ◽  
Hand Movements ◽  
Robotic Welding ◽  
Virtual Fixtures ◽  
Working Space ◽  
Welding Operation ◽  
Welding Torch ◽  
Operating Space ◽  
Welding System

This paper presents an integrated scheme based on a mixed reality (MR) and haptic feedback approach for intuitive and immersive teleoperation of robotic welding systems. By incorporating MR technology, the user is fully immersed in a virtual operating space augmented by real-time visual feedback from the robot working space. The proposed robotic tele-welding system features imitative motion mapping from the user’s hand movements to the welding robot motions, and it enables the spatial velocity-based control of the robot tool center point (TCP). The proposed mixed reality virtual fixture (MRVF) integration approach implements hybrid haptic constraints to guide the operator’s hand movements following the conical guidance to effectively align the welding torch for welding and constrain the welding operation within a collision-free area. Onsite welding and tele-welding experiments identify the operational differences between professional and unskilled welders and demonstrate the effectiveness of the proposed MRVF tele-welding framework for novice welders. The MRVF-integrated visual/haptic tele-welding scheme reduced the torch alignment times by 56% and 60% compared to the MRnoVF and baseline cases, with minimized cognitive workload and optimal usability. The MRVF scheme effectively stabilized welders’ hand movements and eliminated undesirable collisions while generating smooth welds.

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