Exploring Natural User Abstractions For Shared Perceptual Manipulator Task Modeling & Recovery

State-of-the-art domestic robot assistants are essentially autonomous mobile manipulators capable of exerting human-scale precision grasps. To maximize utility and economy, non-technical end-users would need to be nearly as efficient as trained roboticists in control and collaboration of manipulation task behaviors. However, it remains a significant challenge given that many WIMP-style tools require superficial proficiency in robotics, 3D graphics, and computer science for rapid task modeling and recovery. But research on robot-centric collaboration has garnered momentum in recent years; robots are now planning in partially observable environments that maintain geometries and semantic maps, presenting opportunities for non-experts to cooperatively control task behavior with autonomous-planning agents exploiting the knowledge. However, as autonomous systems are not immune to errors under perceptual difficulty, a human-in-the-loop is needed to bias autonomous-planning towards recovery conditions that resume the task and avoid similar errors. In this work, we explore interactive techniques allowing non-technical users to model task behaviors and perceive cooperatively with a service robot under robot-centric collaboration. We evaluate stylus and touch modalities that users can intuitively and effectively convey natural abstractions of high-level tasks, semantic revisions, and geometries about the world. Experiments are conducted with \u27pick-and-place\u27 tasks in an ideal \u27Blocks World\u27 environment using a Kinova JACO six degree-of-freedom manipulator. Possibilities for the architecture and interface are demonstrated with the following features; (1) Semantic \u27Object\u27 and \u27Location\u27 grounding that describe function and ambiguous geometries (2) Task specification with an unordered list of goal predicates, and (3) Guiding task recovery with implied scene geometries and trajectory via symmetry cues and configuration space abstraction. Empirical results from four user studies show our interface was much preferred than the control condition, demonstrating high learnability and ease-of-use that enable our non-technical participants to model complex tasks, provide effective recovery assistance, and teleoperative control

Integrating web services into data intensive web sites

Designing web sites is a complex task. Ad-hoc rapid prototyping easily leads to unsatisfactory results, e.g. poor maintainability and extensibility. However, existing web design frameworks focus exclusively on data presentation: the development of specific functionalities is still achieved through low-level programming. In this paper we address this issue by describing our work on the integration of (semantic) web services into a web design framework, OntoWeaver. The resulting architecture, OntoWeaver-S, supports rapid prototyping of service centred data-intensive web sites, which allow access to remote web services. In particular, OntoWeaver-S is integrated with a comprehensive web service platform, IRS-II, for the specification, discovery, and execution of web services. Moreover, it employs a set of comprehensive site ontologies to model and represent all aspects of service-centred data-intensive web sites, and thus is able to offer high level support for the design and development process

OntoWeaver S: supporting the design of knowledge portals

This paper presents OntoWeaver-S, an ontology-based infrastructure for building knowledge portals. In particular, OntoWeaver-S is integrated with a comprehensive web service platform, IRS-II, for the publication, discovery, and execution of web services. In this way, OntoWeaver-S supports the access and provision of remote web services for knowledge portals. Moreover, it provides a set of comprehensive site ontologies to model and represent knowledge portals, and thus is able to offer high level support for the design and development process. Finally, OntoWeaver-S provides a set of powerful tools to support knowledge portals at design time as well as at run time

Modelling data intensive web sites with OntoWeaver

This paper illustrates the OntoWeaver modelling approach, which relies on a set of comprehensive site ontologies to model all aspects of data intensive web sites and thus offers high level support for the design and development of data-intensive web sites. In particular, the OntoWeaver site ontologies comprise two components: a site view ontology and a presentation ontology. The site view ontology provides meta-models to allow for the composition of sophisticated site views, which allow end users to navigate and manipulate the underlying domain databases. The presentation ontology abstracts the look and feel for site views and makes it possible for the visual appearance and layout to be specified at a high level of abstractio

Applying a User-centred Approach to Interactive Visualization Design

Analysing users in their context of work and finding out how and why they use different information resources is essential to provide interactive visualisation systems that match their goals and needs. Designers should actively involve the intended users throughout the whole process. This chapter presents a user-centered approach for the design of interactive visualisation systems. We describe three phases of the iterative visualisation design process: the early envisioning phase, the global specification hase, and the detailed specification phase. The whole design cycle is repeated until some criterion of success is reached. We discuss different techniques for the analysis of users, their tasks and domain. Subsequently, the design of prototypes and evaluation methods in visualisation practice are presented. Finally, we discuss the practical challenges in design and evaluation of collaborative visualisation environments. Our own case studies and those of others are used throughout the whole chapter to illustrate various approaches

Control of virtual environments for young people with learning difficulties

Purpose: The objective of this research is to identify the requirements for the selection or development of usable virtual environment (VE) interface devices for young people with learning disabilities. Method: a user-centred design methodology was employed, to produce a design specification for usable VE interface devices. Details of the users' cognitive, physical and perceptual abilities were obtained through observation and normative assessment tests. Conclusions : A review of computer interface technology, including virtual reality and assistive devices, was conducted. As there were no devices identified that met all the requirements of the design specification, it was concluded that there is a need for the design and development of new concepts. Future research will involve concept and prototype development and user-based evaluation of the prototypes