966 research outputs found

    Developing a Framework for Stigmergic Human Collaboration with Technology Tools: Cases in Emergency Response

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    Information and Communications Technologies (ICTs), particularly social media and geographic information systems (GIS), have become a transformational force in emergency response. Social media enables ad hoc collaboration, providing timely, useful information dissemination and sharing, and helping to overcome limitations of time and place. Geographic information systems increase the level of situation awareness, serving geospatial data using interactive maps, animations, and computer generated imagery derived from sophisticated global remote sensing systems. Digital workspaces bring these technologies together and contribute to meeting ad hoc and formal emergency response challenges through their affordances of situation awareness and mass collaboration. Distributed ICTs that enable ad hoc emergency response via digital workspaces have arguably made traditional top-down system deployments less relevant in certain situations, including emergency response (Merrill, 2009; Heylighen, 2007a, b). Heylighen (2014, 2007a, b) theorizes that human cognitive stigmergy explains some self-organizing characteristics of ad hoc systems. Elliott (2007) identifies cognitive stigmergy as a factor in mass collaborations supported by digital workspaces. Stigmergy, a term from biology, refers to the phenomenon of self-organizing systems with agents that coordinate via perceived changes in the environment rather than direct communication. In the present research, ad hoc emergency response is examined through the lens of human cognitive stigmergy. The basic assertion is that ICTs and stigmergy together make possible highly effective ad hoc collaborations in circumstances where more typical collaborative methods break down. The research is organized into three essays: an in-depth analysis of the development and deployment of the Ushahidi emergency response software platform, a comparison of the emergency response ICTs used for emergency response during Hurricanes Katrina and Sandy, and a process model developed from the case studies and relevant academic literature is described

    Development and evaluation of mixed reality-enhanced robotic systems for intuitive tele-manipulation and telemanufacturing tasks in hazardous conditions

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    In recent years, with the rapid development of space exploration, deep-sea discovery, nuclear rehabilitation and management, and robotic-assisted medical devices, there is an urgent need for humans to interactively control robotic systems to perform increasingly precise remote operations. The value of medical telerobotic applications during the recent coronavirus pandemic has also been demonstrated and will grow in the future. This thesis investigates novel approaches to the development and evaluation of a mixed reality-enhanced telerobotic platform for intuitive remote teleoperation applications in dangerous and difficult working conditions, such as contaminated sites and undersea or extreme welding scenarios. This research aims to remove human workers from the harmful working environments by equipping complex robotic systems with human intelligence and command/control via intuitive and natural human-robot- interaction, including the implementation of MR techniques to improve the user's situational awareness, depth perception, and spatial cognition, which are fundamental to effective and efficient teleoperation. The proposed robotic mobile manipulation platform consists of a UR5 industrial manipulator, 3D-printed parallel gripper, and customized mobile base, which is envisaged to be controlled by non-skilled operators who are physically separated from the robot working space through an MR-based vision/motion mapping approach. The platform development process involved CAD/CAE/CAM and rapid prototyping techniques, such as 3D printing and laser cutting. Robot Operating System (ROS) and Unity 3D are employed in the developing process to enable the embedded system to intuitively control the robotic system and ensure the implementation of immersive and natural human-robot interactive teleoperation. This research presents an integrated motion/vision retargeting scheme based on a mixed reality subspace approach for intuitive and immersive telemanipulation. An imitation-based velocity- centric motion mapping is implemented via the MR subspace to accurately track operator hand movements for robot motion control, and enables spatial velocity-based control of the robot tool center point (TCP). The proposed system allows precise manipulation of end-effector position and orientation to readily adjust the corresponding velocity of maneuvering. A mixed reality-based multi-view merging framework for immersive and intuitive telemanipulation of a complex mobile manipulator with integrated 3D/2D vision is presented. The proposed 3D immersive telerobotic schemes provide the users with depth perception through the merging of multiple 3D/2D views of the remote environment via MR subspace. The mobile manipulator platform can be effectively controlled by non-skilled operators who are physically separated from the robot working space through a velocity-based imitative motion mapping approach. Finally, this thesis presents an integrated mixed reality and haptic feedback scheme 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 mixed reality virtual fixture 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. Overall, this thesis presents a complete tele-robotic application space technology using mixed reality and immersive elements to effectively translate the operator into the robot’s space in an intuitive and natural manner. The results are thus a step forward in cost-effective and computationally effective human-robot interaction research and technologies. The system presented is readily extensible to a range of potential applications beyond the robotic tele- welding and tele-manipulation tasks used to demonstrate, optimise, and prove the concepts

    Reshaping the Museum of Zoology in Rome by Visual Storytelling and Interactive Iconography

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    This article summarizes the concept of a new immersive and interactive setting for the Zoology Museum in Rome, Italy. The concept, co-designed with all the museum’s curators, is aimed at enhancing the experiential involvement of the visitors by visual storytelling and interactive iconography. Thanks to immersive and interactive technologies designed by Centro Studi Logos, developed by Logosnet and known as e-REALĂą and MirrorMeĂ€, zoological findings and memoirs come to life and interact directly with the visitors in order to deepen their understanding, visualize stories and live experiences, and interact with the founder of the Museum (Mr. Arrigoni degli Oddi) who is now a virtualized avatar, or digital human, able to talk with the visitors. All the interactions are powered through simple hand gestures and, in a few cases, vocal inputs that transform into recognized commands from multimedia systems

    Human factors issues in telerobotic decommissioning of legacy nuclear facilities

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    This thesis investigates the problems of enabling human workers to control remote robots, to achieve decommissioning of contaminated nuclear facilities, which are hazardous for human workers to enter. The mainstream robotics literature predominantly reports novel mechanisms and novel control algorithms. In contrast, this thesis proposes experimental methodologies for objectively evaluating the performance of both a robot and its remote human operator, when challenged with carrying out industrially relevant remote manipulation tasks. Initial experiments use a variety of metrics to evaluate the performance of human test-subjects. Results show that: conventional telemanipulation is extremely slow and difficult; metrics for usability of such technology can be conflicting and hard to interpret; aptitude for telemanipulation varies significantly between individuals; however such aptitude may be rendered predictable by using simple spatial awareness tests. Additional experiments suggest that autonomous robotics methods (e.g. vision-guided grasping) can significantly assist the operator. A novel approach to telemanipulation is proposed, in which an ``orbital camera`` enables the human operator to select arbitrary views of the scene, with the robot's motions transformed into the orbital view coordinate frame. This approach is useful for overcoming the severe depth perception problems of conventional fixed camera views. Finally, a novel computer vision algorithm is proposed for target tracking. Such an algorithm could be used to enable an unmanned aerial vehicle (UAV) to fixate on part of the workspace, e.g. a manipulated object, to provide the proposed orbital camera view

    A Holistic Approach to Employee Functioning: Assessing the Impact of a Virtual-Reality Mindfulness Intervention at Work

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    The purpose of the collected papers was to advance the field of Industrial/ Organizational Psychology by examining the impact of a workplace virtual reality (VR) mindfulness intervention on holistic employee functioning. The workplace VR mindfulness intervention conducted in this dissertation integrated the components of: a.) being attractive to employees, b.) short in duration, and c.) likely to effectively improve all three dimensions of holistic employee functioning (employee wellbeing, employee performance, and employee attitudes). Thus, this collection of papers aimed to shed light on how employee functioning may be effectively improved through mindfulness VR. The three collected papers detail the results of three organizations that implemented a VR mindfulness program in their respective workplaces for the purpose of employee stress reduction. Manuscript 1 provides data to suggest that VR mindfulness at work is significantly related to decreased employee stress. Manuscript 2 failed to detect significant relationships between VR mindfulness and employee performance and attitudes. Lastly, Manuscript 3 is a Practitioners Report. This paper examines the barriers to stress management in an organizational setting and provides recommendations for overcoming these obstacles. Together, this collection of papers contributes to occupational health psychology literature and depicts how employee functioning may be effectively improved through modern stress management strategies (i.e., VR mindfulness), which are short and attractive to employees. Unfortunately, the objective of increasing all three dimensions of holistic employee functioning, through an innovative stress management program, was only partially successful. This indicates that, although short and attractive stress management interventions increase employee wellbeing, there is room to examine past stress management program implementation strategies. Practitioners are provided with methods of overcoming organizational barriers to enhance job performance outcomes and job attitudes and to reduce program attrition
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