Human-Machine Interfaces for Service Robotics

L'abstract è presente nell'allegato / the abstract is in the attachmen

The Interactive Medical Emergency Department (iMED): Architectural Integration of Digital Systems into the Emergency Care Environment

In healthcare, the architectural response to the development of information technologies has largely been relegated to a reactive role, essentially waiting for systems to develop and simply accommodating them with appropriately sized spaces. Designing IT systems independently from, rather than integrally with, their environment impedes them from reaching their full potential as vital components in the delivery of care by creating a lack of flexibility, decelerating performance, and degrading the healing environment. The flexibility of the environment is compromised by fixed position, single user data systems which prevent it from actively adapting to changing conditions, especially during volumetric surges associated with mass casualty events. Additionally, the delivery of care is hindered by traditional data entry points which minimize the caregiver\u27s ability to utilize information effectively by increasing distances to, and wait times for, available platforms. Furthermore, the overall quality of the healing environment is degraded by the increasing amount of technological clutter which can be difficult to sanitize, intimidating to patients, and unsafe by frustrating care. Dissolving the disconnect between architectural environments and information technology can be achieved by devising architectural elements and treatment protocols which would fuse both entities together, creating a more holistic, digitally integrated setting in which to deliver care. Utilizing advances such as integrated wall interfaces and environmental sensor systems would improve the delivery of care by empowering users and architectural settings with the ability to effectively adapt to changing conditions, increase accessibility to information, and streamline care for improved patient outcomes. Replacing fixed position, single user data entry systems with environmentally integrated surface interfaces would improve flexibility and performance by creating a multitude of localized points to access data, as well as streamline and simplify the environment by eliminating technological clutter. The process in which to derive an architectural response to the thesis statement was initiated by performing a series of interviews with nationally prominent professionals in the fields of healthcare architecture and information technology, attending international design conferences, interning in health facilities, assembling a cross-disciplinary thesis committee, and conducting a thorough literature review. The thesis research phase began by studying the historical progression and significance of information technology in healthcare environments in order to discern the architectural role in the implementation of these systems. The research focus was then shifted to all areas of architecture, identifying applicable precedent studies in which the environmental integration of information technology had enhanced the quality of the setting, highlighting characteristics that would improve flexibility, performance, and outcomes in the field of healthcare. From this exploration, a series of typological selection criteria were developed in order to determine which area within the healthcare spectrum would best demonstrate the potentials of this union. The emergency care environment was selected as an appropriate vessel to implement the thesis, due to its need for flexibility in order to accommodate ever changing demographic needs, significant volumetric shifts, fast paced care delivery which is dependent on the rapid utilization of information, and high patient turnover rate requiring an efficient throughput processes. Specific problems relevant to contemporary emergency departments were then identified, including overcrowding, staffing issues, and inability to accommodate for volumetric surges, all of which stem from inadequate throughput methodologies. The thesis then explored how the fusion of digital modalities with architectural elements in the emergency care environment would remediate these problems by improving the throughput of the facility. To ensure the final design holistically satisfies the goal of improving the quality and effectiveness of emergency care through the environmental integration of information technology, a series of design principles were developed to serve as its basis. In order to optimize data flow, access to input areas must be maximized by conceiving the building as an interface, where spatial boundaries become digital connections. If integrated data systems are to be accessible from a universal architectural interface and respond in a safe and controlled manner, digital scanning technologies such as biometrics and RFID tagging must be fused with physical threshold conditions in order to enable the digital system\u27s recognition of its inhabitants. In an additional effort to maintain safety, maximize workability, and ensure a level of sterility in sensitive environments, the facility needs to be designed into layers of penetration, regulating access to only those users who meet proper security clearances. Furthermore, the facility needs to act like a sponge, easily expanding and contracting the layers of penetration in an effort to accommodate unpredictable volumetric increases during mass casualty events. In addition to increasing its capacity, the facility should also be prepared to appropriate adjacent, existing infrastructure for overflow shelter and staging operations during such events. The programmatic typology of a freestanding medical emergency department, in which there is no connection to an existing facility, was selected with the intention of deriving a pure condition which eliminated extraneous influences from diluting the focus of this thesis on the relationship between information technology and architecture. Although rare in the US, freestanding emergency care facilities are a viable option for expanding healthcare provider\u27s coverage, capturing areas with growing populations, and improving the regional capability to respond effectively during mass casualty events. The base program was derived from the Swedish Medical Issaquah Campus Freestanding Emergency Department in Seattle, Washington, and then modified to function as a Point of Distribution (POD) site during mass casualty events. A series of potential mass casualty event scenarios were then developed in order to effectively prepare conceptual simulations to test possible responses from the facility\u27s program. The thesis proposal consists of a freestanding, 40,000+ square foot Interactive Medical Emergency Department (iMED) located in Charleston, SC. The proposal is guided by an established set of design principles, aiming to improve the delivery of emergency care during daily operations and mass casualty surge events through the architectural integration of information technology. In order to provide a range of possible disaster response situations, the building was located in the densely populated peninsula area of Charleston, South Carolina, within a region which is susceptible to an assortment of mass casualty events (including hurricanes, earthquakes, and terrorist attacks). The final site within the urban context adheres to a set of established criteria, including placement on open, stable, elevated land adjacent to the major access arterials of I-26, Hwy 17, and Meeting Street. Additionally, the site was located within a rapidly expanding, non-historical sector of the city which is not part of an existing healthcare complex. By meeting regional and urban conditions defined in the criteria, the site\u27s location strengthens the facility\u27s ability to deliver care during both daily and surge conditions substantially

Modeling Human-Robot-Interaction based on generic Interaction Patterns

Peltason J. Modeling Human-Robot-Interaction based on generic Interaction Patterns. Bielefeld: Bielefeld University; 2014

O papel da quarta revolução industrial no turismo acessível: estudo e conceptualização de uma aplicação web

The world is experiencing the beginning of the fourth Industrial Revolution, responsible for implementing a new digitalization era. This revolution originated in manufacturing, with industry 4.0 bringing a new reality to organizations. However, the scope of this new technological revolution is vast, and other sectors can benefit from the new digital era. In the Services Industry, tourism is an example of that, as Tourism 4.0 is the result of the impact of the fourth industrial revolution in this sector. Tourism 4.0 is the result of the impact of the fourth industrial revolution in tourism. An interesting challenge that this technological era brings to tourism is the social inclusion of people with disabilities. The accessible tourism market reveals huge potential, but despite this, this market is still largely ignored. Several technologies that promoted the fourth industrial revolution present capabilities to promote accessible tourism by improving tourism’s access conditions to people with disabilities. The present work developed a study in accessible tourism, understanding the main requirements for this market, and conceptualizing a Web application, for promoting accessibility in tourism. This Web application work as a mediator between the principal stakeholders. To gather requirements for the system, a triangulation matrix was elaborated using three methodological approaches: i) Literature Review; ii) website accessibility analysis of hotels located in the central region of Portugal; and iii) content analysis of some concurrent platforms. The requirements triangulation matrix allowed the identification of what requirements are crucial for the system success, which were used to conceptualize the solution with UML notation. This work intends to demonstrate the technological impacts of the fourth industrial revolution on society, especially on the promotion of a more accessible tourismO mundo encontra-se hoje no início da quarta revolução industrial, responsável pela promoção de uma nova era caracterizada pela digitalização. Apesar desta revolução ter surgido no setor industrial, com o conceito de Indústria 4.0, a sua aplicação é muito mais vasta, existindo outros sectores que podem igualmente beneficiar desta nova era tecnológica. O setor dos serviços, nomeadamente o Turismo, é um exemplo disso, e o conceito de Turismo 4.0 é o resultado do impacto da quarta revolução industrial nesse setor. Um desafio interessante que esta nova era tecnológica traz para o turismo é o da inclusão social, promovendo o turismo para todos. De facto, o mercado do turismo acessível, apesar de ter imenso potencial, tem sido relegado no contexto dos negócios. Por outro lado, o potencial tecnológico associado a esta nova revolução industrial sugere uma grande capacidade na promoção do turismo acessível, na medida em que podem facilitar as condições de acesso ao turismo, por parte de pessoas com algum tipo de incapacidade e ou necessidade especial. O presente trabalho visa conduzir um estudo na área do turismo acessível, por forma compreender os principais requisitos deste tipo de mercado e, consequentemente, conceptualizar uma aplicação Web, com o propósito de promover a acessibilidade no turismo, funcionando como um mediador de informação entre os principais stakeholders. Para a obtenção dos requisitos do sistema foi feita: i) uma revisão da literatura; ii) um estudo que avalia a acessibilidade dos websites dos hotéis da zona centro de Portugal, e, ainda iii) um estudo com base em análise de conteúdo de algumas plataformas potencialmente concorrentes. Os resultados são apresentados na forma de uma matriz de triangulação, onde é possível identificar a fonte dos requisitos identificados, sendo posteriormente utilizados para conceptualizar a solução proposta com recurso à notação UML. Pretende-se com este trabalho demonstrar o potencial e o efeito que as tecnologias existentes na era designada por quarta revolução industrial podem ter na sociedade, nomeadamente na promoção de um turismo para todosMestrado em Engenharia e Gestão Industria

Nutzerorientierte Evaluation zweier altersgerechter Assistenzroboter zur Unterstützung von Alltagsaktivitäten („Ambient Assisted Living-Roboter“) bei älteren Menschen mit funktionellen Einschränkungen: MOBOT-Rollator und I-SUPPORT-Duschroboter

Ziel der vorliegenden Arbeit ist die nutzerorientierte Evaluation zweier Prototypen für altersgerechte Assistenzroboter zur Unterstützung von Alltagsaktivitäten („Ambient Assisted Living“ [AAL]-Roboter) bei älteren Menschen mit funktionellen Einschränkungen. Bei den Prototypen handelt es sich dabei um (1) einen robotergestützten Rollator zur Unterstützung der Mobilität (MOBOT) und (2) einen Assistenzroboter zur Unterstützung von Duschaktivitäten (I-SUPPORT). Manuskript I dokumentiert eine systematische Literaturanalyse des methodischen Vorgehens bisheriger Studien zur Evaluation robotergestützter Rollatoren aus der Nutzerperspektive. Die meisten Studien zeigen erhebliche methodische Mängel, wie unzureichende Stichprobengrößen/-beschreibungen; Teilnehmer nicht repräsentativ für die Nutzergruppe der robotergestützten Rollatoren; keine geeigneten, standardisierten und validierten Assessmentmethoden und/oder keine Inferenzstatistik. Ein generisches methodisches Vorgehen für die Evaluation robotergestützter Rollatoren konnte nicht identifiziert werden. Für die Konzeption und Durchführung zukünftiger Studien zur Evaluation robotergestützter Rollatoren, aber auch anderer AAL-Systeme werden in Manuskript I abschließend Handlungsempfehlungen formuliert. Manuskript II analysiert die Untersuchungsergebnisse der in Manuskript I identifizierten Studien. Es zeigen sich sehr heterogene Ergebnisse hinsichtlich des Mehrwerts der innovativen Assistenzfunktionen von robotergestützten Rollatoren. Im Allgemeinen werden sie jedoch als positiv von den Nutzern wahrgenommen. Die große Heterogenität und methodischen Mängel der Studien schränken die Interpretierbarkeit ihre Untersuchungsergebnisse stark ein. Insgesamt verdeutlicht Manuskript II, dass die Evidenz zur Effektivität und positiven Wahrnehmung robotergestützter Rollatoren aus der Nutzerperspektive noch unzureichend ist. Basierend auf den Erkenntnissen und Handlungsempfehlungen der systematischen Literaturanalysen aus Manuskript I und II wurden die nutzerorientierten Evaluationsstudien des MOBOT-Rollators konzipiert und durchgeführt (Manuskript III-VI). Manuskript III überprüft die Effektivität des in den MOBOT-Rollator integrierten Navigationssystems bei potentiellen Nutzern (= ältere Personen mit Gangstörungen bzw. Rollator als Gehhilfe im Alltag). Es liefert erstmals einen statistischen Nachweis dafür, dass eine solche Assistenzfunktion effektiv ist, um die Navigationsleistung der Nutzer (z. B. geringer Stoppzeit, kürzere Wegstrecke) – insbesondere derjenigen mit kognitiven Einschränkungen – in einem realitätsnahen Anwendungsszenario zu verbessern. Manuskript IV untersucht die konkurrente Validität des MOBOT-integrierten Ganganalysesystems bei potentiellen Nutzern. Im Vergleich zu einem etablierten Referenzstandard (GAITRite®-System) zeigt es eine hohe konkurrente Validität für die Erfassung zeitlicher, nicht jedoch raumbezogener Gangparameter. Diese können zwar ebenfalls mit hoher Konsistenz gemessen werden, aber lediglich mit einer begrenzten absoluten Genauigkeit. Manuskript V umfasst die nutzerorientierte Evaluation der im MOBOT-Rollator integrierten Assistenzfunktion zur Hindernisvermeidung und belegt erstmals die Effektivität einer solchen Funktionen bei potentiellen Nutzern. Unter Verwendung des für den MOBOT-Rollator neu entwickelten technischen Ansatzes für die Hindernisvermeidung zeigten die Teilnehmer signifikante Verbesserungen bei der Bewältigung eines Hindernisparcours (weniger Kollisionen und geringere Annäherungsgeschwindigkeit an die Hindernisse). Manuskript VI dokumentiert die Effektivität und Zufriedenheit mit der Aufstehhilfe des MOBOT-Rollators von potentiellen Nutzern. Es wird gezeigt, dass die Erfolgsrate für den Sitzen-Stehen-Transfer älterer Personen mit motorischen Einschränkungen durch die Aufstehhilfe signifikant verbessert werden kann. Die Ergebnisse belegen zudem eine hohe Nutzerzufriedenheit mit dieser Assistenzfunktion, insbesondere bei Personen mit höherem Body-Mass-Index. Manuskript VII untersucht die Mensch-Roboter-Interaktion zwischen dem I-SUPPORT-Duschroboter und seiner potentiellen Nutzer (= ältere Personen mit Problemen bei Baden/Duschen) und überprüft deren Effektivität sowie Zufriedenheit mit drei unterschiedlich autonomen Betriebsmodi. Die Studienergebnisse dokumentieren, dass sich mit zunehmender Kontrolle des Nutzers (= abnehmende Autonomie des Duschroboters) nicht nur die Effektivität für das Abduschen eines definierten Körperbereichs verringert, sondern auch die Nutzerzufriedenheit sinkt. Manuskript VIII umfasst die Evaluation eines spezifischen Nutzertrainings auf die gestenbasierte Mensch-Roboter-Interaktion mit dem I-SUPPORT-Duschroboter. Es wird gezeigt, dass ein solches Training die Ausführung der Gesten potentieller Nutzer und sowie die Gestenerkennungsrate des Duschroboters signifikant verbessern, was insgesamt auf eine optimierte Mensch-Roboter-Interaktion in Folge des Trainings schließen lässt. Teilnehmer mit der schlechtesten Ausgangsleistung in der Ausführung der Gesten und mit der größten Angst vor Technologien profitierten am meisten vom Nutzertraining. Insgesamt belegen die Studienergebnisse zur nutzerorientierten Evaluation des MOBOT-Rollators die Effektivität und Gültigkeit seiner innovativen Teilfunktionen. Sie weisen auf ein hohes Potential der Assistenzfunktionen (Navigationssystem, Hindernisvermeidung, Aufstehhilfe) zur Verbesserung der Mobilität älterer Menschen mit motorischen Einschränkungen hin. Vor dem Hintergrund der methodischen Mängel und unzureichenden evidenzbasierten Datenlage hierzu, liefert diese Dissertationsschrift erstmals statistische Belege für den Mehrwert solcher Teilfunktionen bei potentiellen Nutzern und leistet somit einen wichtigen Beitrag zur Schließung der bisherigen Forschungslücke hinsichtlich des nutzerorientierten Wirksamkeits- und Gültigkeitsnachweises robotergestützter Rollatoren und ihrer innovativen Teilfunktionen. Die Ergebnisse der Studien des I-SUPPORT-Duschroboters liefern wichtige Erkenntnisse hinsichtlich der Mensch-Roboter-Interaktion im höheren Alter. Sie zeigen, dass bei älteren Nutzern für eine effektive Interaktion Betriebsmodi mit einem hohen Maß an Autonomie des Duschroboters notwendig sind. Trotz ihrer eingeschränkten Kontrolle über den Roboter, waren die Nutzer mit dem autonomsten Betriebsmodus sogar am zufriedensten. Darüber hinaus unterstreichen die Ergebnisse hinsichtlich der gestenbasierten Interaktion mit dem I-SUPPORT-Duschroboter, dass zukünftige Entwicklungen von altersgerechten Assistenzrobotern mit gestenbasierter Interaktion nicht nur die Verbesserungen technischer Aspekte, sondern auch die Sicherstellung und Verbesserungen der Qualität der Nutzergesten für die Mensch-Roboter-Interaktion durch geeignete Trainings- oder Schulungsmaßnahmen berücksichtigen sollten. Das vorgestellte Nutzertraining könnte hierfür ein mögliches Modell darstellen

Multi-Agent Systems

This Special Issue ""Multi-Agent Systems"" gathers original research articles reporting results on the steadily growing area of agent-oriented computing and multi-agent systems technologies. After more than 20 years of academic research on multi-agent systems (MASs), in fact, agent-oriented models and technologies have been promoted as the most suitable candidates for the design and development of distributed and intelligent applications in complex and dynamic environments. With respect to both their quality and range, the papers in this Special Issue already represent a meaningful sample of the most recent advancements in the field of agent-oriented models and technologies. In particular, the 17 contributions cover agent-based modeling and simulation, situated multi-agent systems, socio-technical multi-agent systems, and semantic technologies applied to multi-agent systems. In fact, it is surprising to witness how such a limited portion of MAS research already highlights the most relevant usage of agent-based models and technologies, as well as their most appreciated characteristics. We are thus confident that the readers of Applied Sciences will be able to appreciate the growing role that MASs will play in the design and development of the next generation of complex intelligent systems. This Special Issue has been converted into a yearly series, for which a new call for papers is already available at the Applied Sciences journal’s website: https://www.mdpi.com/journal/applsci/special_issues/Multi-Agent_Systems_2019

Proceedings of the 3rd international conference on disability, virtual reality and associated technologies (ICDVRAT 2000)

The proceedings of the conferenc

Spatial Practices/Digital Traces: Embodiment and Reconfigurations of Urban Spaces Through GPS Mobile Applications

This research explores the relationship between bodies, space and mobile technologies by studying the affective and spatial properties of three GPS-based mobile applications—Grindr, Mappiness and Waze. Discussions of how newly constructed subjectivities experience location, orientation and spatial movements—both physical and digital—emerge throughout the chapters. The study seeks to answer the following research questions: How are GPS-based apps enabling the construction of new digital subjects and embodiments? How do they enable users to perform these identities in space? How does the production of these new subjectivities create alternate forms of inhabiting urban spaces as well as alternate modes of digital mobility? In what ways do GPS apps create new spatiotemporal relations for bodies, and how are these relations made visible by the interfaces’ spatial and urban representations? To answer these questions, the three apps—which were selected from a group of contemporary apps based on their GPS properties, strong link to urban space and relation to embodied performance—are treated as a series of material objects. Though each app’s particular purpose varies, as a set they suggest coupled themes that structure the study’s analysis: physical boundaries/digital peripheries, companionship/wayfinding, embodiments/othering, judgement/ confidence, gamification/interface, intimacy/tactility and trails/digital residue. Guided by Cyberfeminist theories, the method of study is conducted through three phases: personal empirical research, in-depth interviews with participants and the designing of a series of coded avatars of the participants’ identities. The dissertation argues that there exists a mutual shaping between a person’s subjectivity and app-technology, and that these constructions affect the way space is navigated and perceived. To elaborate on this triadic relationship between body/space/technology and to open up new imaginaries to theorise about the body in space through a Cyberfeminist perspective, it proposes a new, performative figuration—the boy—arguing that these newly constructed identities are fluidly assembled and disassembled by their continuous negotiation between physical and digital boundaries. In this way, the study rethinks how Grindr, Mappiness and Waze enable alternate embodiments for performing identities in space, while also seeking to discuss how they create new spatial organisations and socio-spatial manifestations

Proceedings of the 8th international conference on disability, virtual reality and associated technologies (ICDVRAT 2010)

The proceedings of the conferenc

Decision-Theoretic Planning for User-Adaptive Systems: Dealing With Multiple Goals and Resource Limitations

While there exists a number of user-adaptive systems that use decision-theoretic methods to make individual decisions, decision-theoretic planning has hardly been exploited in the context of useradaptive systems so far. This thesis focuses on the application of decision-theoretic planning in user-adaptive systems and demonstrates how competing goals and resource limitations of the user can be considered in such an approach. The approach is illustrated with examples from the following domains: user-adaptive assistance for operating a technical device, user-adaptive navigation recommendations in an airport scenario, and finally user-adaptive and location-aware shopping assistance. With the shopping assistant, we have analyzed usability issues of a system based on decision-theoretic planning in two user studies. We describe how hard time constraints, as they are induced, for example, by the boarding of the passenger in an airport navigation scenario, can be considered in a decision-theoretic approach. Moreover, we propose a hierarchical decision-theoretic planning approach based on goal priorization, which keeps the complexity of dealing with realistic problems tractable. Furthermore, we specify the general workflow for the development and application of Markov decision processes to be applied in user-adaptive systems, and we describe possibilities to enhance a user-adaptive system based on decision-theoretic planning by an explanation component