Modelling and use of SysML behaviour models for achieving dynamic use cases of technical products in different VR-systems

Digital methods and models help the product designers in performing early evaluations on a product that eventually help to gain understanding about a product’s behaviour and its interactions with neighbouring systems in its later life-phases. Virtual Reality (VR) is a technology that can facilitate the early evaluation process by showing later life situations of a product as early as at the design stage. However, the application of VR in the industry is currently limited due to high model preparation effort and poor reusability of already prepared models. Therefore, this thesis pursues towards the development of a method that can facilitate the early evaluations of the product in VR and thus, facilitate the use of VR in the product development process. This method aims at achieving generic behavioural descriptions for use in VR that can be reused as well to form dynamic use cases of a product in different VR-systems. The focus lies on reducing the overall preparation effort of VR-models and on achieving high reusability of already created models. The core components of the thesis consist of the use of Model Based Systems Engineering (MBSE) to develop generic behavioural model descriptions, their use in building different use cases of a product in one VR-system and their reuse in different VR-systems as well. The Systems Modeling Language (SysML) is used to describe the behavioural models, the modelling process is described systematically and is also summarized in the form of general-purpose guidelines for later use. Furthermore, a dedicated physics engine is used to perform the physical calculations on virtual objects in VR and is integrated with the SysML. These SysML behaviour models together with the physics engine are used to achieve a real-time product use case simulation inside VR. The same SysML behaviour models are used across different VR-systems to achieve real-time simulations and to validate their reuse. Two VR prototypes are developed to demonstrate the effectivity and use of the presented method. Finally, one of the prototypes is put to the empirical evaluation performed with the help of experts from academia as well as the industry.Digitale Methode und Modellen ermöglichen den Produktdesignern eine frühzeitige Evaluierung des Produkts, damit sie das Verhalten des Produkts und seine Interaktionen mit benachbarten Systemen in seinen späteren Lebensphasen besser verstehen können. Virtual Reality (VR) ist eine Technologie, die zum frühen Evaluierungsprozess beitragen kann, indem spätere Lebenssituationen eines Produkts schon in der Entwurfsphase angezeigt werden können. Die Anwendung von VR in der Industrie ist jedoch derzeit aufgrund des hohen Modellaufbereitungsaufwands und der limitierten Wiederverwendbarkeit vorhandener Modelle begrenzt. Daher befasst sich diese Arbeit mit der Entwicklung einer Methode, die die frühzeitige Evaluierung des Produkts innerhalb von VR und die Verwendung von VR im Produktentwicklungsprozess erleichtern kann. Diese Methode befasst sich mit dem Prozess der Entwicklung allgemeiner Verhaltensbeschreibungen zur Verwendung in VR, die auch wiederverwendet werden können, um dynamische Anwendungsfälle eines Produkts in den verschiedenen VR-Systemen abzubilden. Der Fokus liegt auf der Reduzierung des gesamten Aufbereitungsaufwands von VR-Modellen und auf das Verwirklichen einer hohen Wiederverwendbarkeit bereits vorhandener Modelle. Die Kernkomponenten der Arbeit bestehen in der Verwendung von Model Based Systems Engineering (MBSE) zur Entwicklung allgemeingültiger Verhaltensmodellbeschreibungen, ihrer Verwendung beim Erstellen verschiedener Anwendungsfälle eines Produkts in einem VR-System und ihrer Wiederverwendung in den verschiedenen VR-Systemen. Die Systems Modeling Language (SysML) wird zur Beschreibung der Verhaltensmodelle verwendet, der Modellierungsprozess wird systematisch beschrieben und auch in Form allgemeiner Anwendungsrichtlinien für die spätere Verwendung zusammengefasst. Darüber hinaus wird eine dedizierte Physik-Engine verwendet, um die physikalischen Berechnungen für virtuelle Objekte in VR durchzuführen, welche auch mit SysML integriert ist. Diese SysML-Verhaltensmodelle zusammen mit der Physik-Engine bilden eine echtzeitfähige Produktanwendungssimulation in VR. Dieselben SysML-Verhaltensmodelle werden für verschiedene VR-Systeme verwendet, um Echtzeitsimulationen abzubilden und ihre Wiederverwendung zu validieren. Zwei VR-Prototypen wurden entwickelt, um die Wirksamkeit und Verwendung der vorgestellten Methoden zu demonstrieren. Schließlich wurde einer der Prototypen einer empirischen Untersuchung unterzogen, die mithilfe von Experten aus Wissenschaft und Industrie durchgeführt wurde

DHRS 2009 Proceedings of the Ninth Danish Human-Computer Interaction Research Symposium.

Since 2001 the annual Danish Human-Computer Interaction Research Symposium has been a platform for networking, and provided an opportunity to get an overview across the various parts of the Danish HCI research scene. This years symposium was held in Aarhus, Denmark on December 14, 200

An automated cleaning system for hospitals

Insufficient hygienic practices in Irish hospitals coupled with one of the highest number of reported cases of MRSA in Europe have highlighted the need for solutions to aid in the task of cleaning. This automated cleaning system consisted of two robots: a core robot developed separately with navigational and task scheduling capabilities integrated. The cleaning task was carried out by making use of a commercially available Roomba vacuum cleaner which had been adapted to operate in conjunction with the core robot. A uni-directional communications was established; commands were sent from the core robot to the Roomba. A visual analysis software, by the name of RoboRealm, was integrated into the system as the primary component. The initial role of the software was to allow the vacuum robot to orientate itself in order to enable transport from location to destination by means of visually tracking an object of interest. The object was to be located on the rear of the core robot. Subsequently the visual recognition aspect took on a greater role and encompassed a system by which commands were issued by the main robot and visually interpreted by the Roomba. This enabled the cleaning system to issue uni-directional commands and therefore carry out regular cleaning of any room, spot cleaning on a small spillage, following from one location to a destination or pause at any point during transport for emergency reasons. All tasks were deemed to be completed, however the prototype has not been completed and future work is still required in order to further the work carried out thus far. The robot successfully received the commands and activates the relevant programming as instructed. A critical analysis and recommendations for future work finish the report

Studies on user control in ambient intelligent systems

People have a deeply rooted need to experience control and be effective in interactions with their environments. At present times, we are surrounded by intelligent systems that take decisions and perform actions for us. This should make life easier, but there is a risk that users experience less control and reject the system. The central question in this thesis is whether we can design intelligent systems that have a degree of autonomy, while users maintain a sense of control. We try to achieve this by giving the intelligent system an 'expressive interface’: the part that provides information to the user about the internal state, intentions and actions of the system. We examine this question both in the home and the work environment.We find the notion of a ‘system personality’ useful as a guiding principle for designing interactions with intelligent systems, for domestic robots as well as in building automation. Although the desired system personality varies per application, in both domains a recognizable system personality can be designed through expressive interfaces using motion, light, sound, and social cues. The various studies show that the level of automation and the expressive interface can influence the perceived system personality, the perceived level of control, and user’s satisfaction with the system. This thesis shows the potential of the expressive interface as an instrument to help users understand what is going on inside the system and to experience control, which might be essential for the successful adoption of the intelligent systems of the future.<br/

Designing a programming-based approach for modelling scientific phenomena

We describe an iteratively designed sequence of activities involving the modelling of 1- dimensional collisions between moving objects based on programming in ToonTalk. Students aged 13-14 in two settings (London and Cyprus) investigated a number of collision situations, classified into six classes based on the relative velocities and masses of the colliding objects. We describe iterations of the system in which students engaged in a repeating cycle of activity for each collision class: prediction of object behaviour from given collision conditions, observation of a relevant video clip, building a model to represent the phenomena, testing, validating and refining their model, and publishing it – together with comments – on our web-based collaboration system, WebReports. Students were encouraged to consider the limitations of their current model, with the aim that they would eventually appreciate the benefit of constructing a general model that would work for all collision classes, rather than a different model for each class. We describe how our intention to engage students with the underlying concepts of conservation, closed systems and system states was instantiated in the activity design, and how the modelling activities afforded an alternative representational framework to traditional algebraic description

Ethics of Robotic Aesthetics

This article explores the relationship between expressivity morphology and acceptance, defining the conditions that make service robots desirable by man. In the attempt to define “an ethic for robotic aesthetics”, it is discussed the evolution happened in robot design and how they where perceived by people, both in scientific community and in pop culture. The conception of robots begin with an approach strongly oriented to a biological imitation, especially anthropomorphic, conversely, nowadays, the scenario is various and robots assume a multitude of synthetic aesthetic languages and, moreover, are characterized on the base of the context. In the final part of this article, it is described, through a series of examples, the contemporary scenario in which to the multitude of languages is added also the contamination of the digital world, outlining new morphological types. One of the examples is Virgil, a service robot for Cultutal Heritage enhancement, designed by the research team JOLCRAB Telecom Italia/Politecnico di Torino

Diseño y prototipado de un carrito de la compra capaz de seguir a una persona y evitar obstáculos

The aim of this Final Year Project was to design a shopping trolley that is able to navigate autonomously following a human within a 3 feet distance, transport a load up to 20 kg and avoid collisions. Due to the large weight of the load, it has been decided to build a smaller prototype and then choose the components needed to build the real size trolley. One infrared transmitter is attached to the body of the target person and several infrared phototransistors are placed on the robot to calculate the relative position robot-person and the distance between them. A collision avoidance algorithm has been implemented using ultrasonic sensors for detecting the nearest obstacles. An ARM mbed NXP LPC1768 microcontroller coordinates every sensor measure and control calculation. It also controls the power stage designed for driving the motors

Towards a Methodology for Longitudinal Evaluation of Social Robotic Telepresence for Elderly

This paper describes a methodology for performing longitudinal evaluations when a social robotic telepresence system is deployed in realistic environments. This work is the core of an Ambient Assisted Living Project called ExCITE, Enabling Social Interaction Through Telepresence. The ExCITE project is geared towards an elderly audience and has as aim to increase social interaction among elderly, their family and healthcare services by using robotic telepresence. The robotic system used in the project is called the Giraff robot and over a three year period, prototypes of this platform are deployed at a number of test-sites in different European countries where user feedback is collected and feedback into the refinement of the prototype. In this paper, we discuss the methodology of ExCITE in particular relation to other methodologies for longitudinal evaluation. The paper also provides a discussion of the possible pitfalls and risks in performing longitudinal studies of this nature particularly as they relate to social robotic telepresence technologies

Qualified Affordance-based Design

Function-based approaches are taught by the engineering design community and implemented in practice. The most significant advantage of these approaches is that they can guide the designers to abstract the essential problems from the design requirements, build the function-based models, and consequently provide the direction of the solution. However, due to the lack of a consistent scientific definition on the meaning of the function, these approaches may be contradictory when representing human-centered aspects, features, and non-physical purposes. To address this issue, design researchers have pursued two general directions: (1) broadening the meaning of function and (2) introducing an alternative scientific concept such as \u27affordance\u27 or \u27wirk\u27 to compensate for the weaknesses of the functional descriptions. Research on affordance is the focus in this thesis. Although the term affordance has been introduced in design methodology, some significant details like representation, categorization, and application into mechanical design still need to be further studied. Therefore, this thesis starts by analyzing the ambiguity of function in design to support the necessity of involving affordances, and then reviews and compares the usages of affordance in Human-Computer Interaction (HCI), Artificial Intelligence (AI), design, psychology, and philosophy. The research opportunities are identified from the review and the comparison of the various approaches. One of the opportunities is to qualify the affordance-based design. Therefore, a new categorization of affordances applicable for product design is proposed, including doing and happening Artifact-Artifact Affordances (dAAA and hAAA), doing and happening Artifact-Environment Affordances (dAEA and hAEA), and doing and happening Artifact-User Affordances (dAUA and hAUA)