Human-robot interaction using a behavioural control strategy

PhD ThesisA topical and important aspect of robotics research is in the area of human-robot interaction (HRI), which addresses the issue of cooperation between a human and a robot to allow tasks to be shared in a safe and reliable manner. This thesis focuses on the design and development of an appropriate set of behaviour strategies for human-robot interactive control by first understanding how an equivalent human-human interaction (HHI) can be used to establish a framework for a robotic behaviour-based approach. To achieve the above goal, two preliminary HHI experimental investigations were initiated in this study. The first of which was designed to evaluate the human dynamic response using a one degree-of-freedom (DOF) HHI rectilinear test where the handler passes a compliant object to the receiver along a constrained horizontal path. The human dynamic response while executing the HHI rectilinear task has been investigated using a Box-Behnken design of experiments [Box and Hunter, 1957] and was based on the McRuer crossover model [McRuer et al. 1995]. To mimic a real-world human-human object handover task where the handler is able to pass an object to the receiver in a 3D workspace, a second more substantive one DOF HHI baton handover task has been developed. The HHI object handover tests were designed to understand the dynamic behavioural characteristics of the human participants, in which the handler was required to dexterously pass an object to the receiver in a timely and natural manner. The profiles of interactive forces between the handler and receiver were measured as a function of time, and how they are modulated whilst performing the tasks, was evaluated. Three key parameters were used to identify the physical characteristics of the human participants, including: peak interactive force (fmax), transfer time (Ttrf), and work done (W). These variables were subsequently used to design and develop an appropriate set of force and velocity control strategies for a six DOF Stäubli robot manipulator arm (TX60) working in a human-robot interactive environment. The optimal design of the software and hardware controller implementation for the robot system has been successfully established in keeping with a behaviour-based approach. External force control based on proportional plus integral (PI) and fuzzy logic control (FLC) algorithms were adopted to control the robot end effector velocity and interactive force in real-time. ii The results of interactive experiments with human-to-robot and robot-to-human handover tasks allowed a comparison of the PI and FLC control strategies. It can be concluded that the quantitative measurement of the performance of robot velocity and force control can be considered acceptable for human-robot interaction. These can provide effective performance during the robot-human object handover tasks, where the robot was able to successfully pass the object from/to the human in a safe, reliable and timely manner. However, after careful analysis with regard to human-robot handover test results, the FLC scheme was shown to be superior to PI control by actively compensating for the dynamics in the non-linear system and demonstrated better overall performance and stability. The FLC also shows superior performance in terms of improved sensitivity to small error changes compared to PI control, which is an advantage in establishing effective robot force control. The results of survey responses from the participants were in agreement with the parallel test outcomes, demonstrating significant satisfaction with the overall performance of the human-robot interactive system, as measured by an average rating of 4.06 on a five point scale. In brief, this research has contributed the foundations for long-term research, particularly in the development of an interactive real-time robot-force control system, which enables the robot manipulator arm to cooperate with a human to facilitate the dextrous transfer of objects in a safe and speedy manner.Thai government and Prince of Songkla University (PSU

A field study of team working in a new human supervisory control system

This paper presents a case study of an investigation into team behaviour in an energy distribution company. The main aim was to investigate the impact of major changes in the company on system performance, comprising human and technical elements. A socio-technical systems approach was adopted. There were main differences between the teams investigated in the study: the time of year each control room was studied (i.e. summer or winter),the stage of development each team was in (i.e. 10 months), and the team structure (i.e. hierarchical or heterarchical). In all other respects the control rooms were the same: employing the same technology and within the same organization. The main findings were: the teams studied in the winter months were engaged in more `planning’ and `awareness’ type of activities than those studies in the summer months. Newer teams seem to be engaged in more sharing of information than older teams, which maybe indicative of the development process. One of the hierarchical teams was engaged in more `system-driven’ activities than the heterarchical team studied at the same time of year. Finally, in general, the heterarchical team perceived a greater degree of team working culture than its hierarchical counterparts. This applied research project confirms findings from laboratory research and emphasizes the importance of involving ergonomics in the design of team working in human supervisory control

Data mining technology for the evaluation of learning content interaction

Interactivity is central for the success of learning. In e-learning and other educational multimedia environments, the evaluation of interaction and behaviour is particularly crucial. Data mining – a non-intrusive, objective analysis technology – shall be proposed as the central evaluation technology for the analysis of the usage of computer-based educational environments and in particular of the interaction with educational content. Basic mining techniques are reviewed and their application in a Web-based third-level course environment is illustrated. Analytic models capturing interaction aspects from the application domain (learning) and the software infrastructure (interactive multimedia) are required for the meaningful interpretation of mining results

Rule learning enhances structural plasticity of long-range axons in frontal cortex.

Rules encompass cue-action-outcome associations used to guide decisions and strategies in a specific context. Subregions of the frontal cortex including the orbitofrontal cortex (OFC) and dorsomedial prefrontal cortex (dmPFC) are implicated in rule learning, although changes in structural connectivity underlying rule learning are poorly understood. We imaged OFC axonal projections to dmPFC during training in a multiple choice foraging task and used a reinforcement learning model to quantify explore-exploit strategy use and prediction error magnitude. Here we show that rule training, but not experience of reward alone, enhances OFC bouton plasticity. Baseline bouton density and gains during training correlate with rule exploitation, while bouton loss correlates with exploration and scales with the magnitude of experienced prediction errors. We conclude that rule learning sculpts frontal cortex interconnectivity and adjusts a thermostat for the explore-exploit balance

Alter ego, state of the art on user profiling: an overview of the most relevant organisational and behavioural aspects regarding User Profiling.

This report gives an overview of the most relevant organisational and\ud behavioural aspects regarding user profiling. It discusses not only the\ud most important aims of user profiling from both an organisation’s as\ud well as a user’s perspective, it will also discuss organisational motives\ud and barriers for user profiling and the most important conditions for\ud the success of user profiling. Finally recommendations are made and\ud suggestions for further research are given

Cognitive finance: Behavioural strategies of spending, saving, and investing.

Research in economics is increasingly open to empirical results. The advances in behavioural approaches are expanded here by applying cognitive methods to financial questions. The field of "cognitive finance" is approached by the exploration of decision strategies in the financial settings of spending, saving, and investing. Individual strategies in these different domains are searched for and elaborated to derive explanations for observed irregularities in financial decision making. Strong context-dependency and adaptive learning form the basis for this cognition-based approach to finance. Experiments, ratings, and real world data analysis are carried out in specific financial settings, combining different research methods to improve the understanding of natural financial behaviour. People use various strategies in the domains of spending, saving, and investing. Specific spending profiles can be elaborated for a better understanding of individual spending differences. It was found that people differ along four dimensions of spending, which can be labelled: General Leisure, Regular Maintenance, Risk Orientation, and Future Orientation. Saving behaviour is strongly dependent on how people mentally structure their finance and on their self-control attitude towards decision space restrictions, environmental cues, and contingency structures. Investment strategies depend on how companies, in which investments are placed, are evaluated on factors such as Honesty, Prestige, Innovation, and Power. Further on, different information integration strategies can be learned in decision situations with direct feedback. The mapping of cognitive processes in financial decision making is discussed and adaptive learning mechanisms are proposed for the observed behavioural differences. The construal of a "financial personality" is proposed in accordance with other dimensions of personality measures, to better acknowledge and predict variations in financial behaviour. This perspective enriches economic theories and provides a useful ground for improving individual financial services

Herding and Social Pressure in Trading Tasks: A Behavioural Analysis

We extend the experimental literature on Bayesian herding using evidence from a financial decision-making experiment. We identify significant propensities to herd increasing with the degree of herd-consensus. We test various herding models to capture the differential impacts of Bayesian-style thinking versus behavioural factors. We find statistically significant associations between herding and individual characteristics such as age and personality traits. Overall, our evidence is consistent with explanations of herding as the outcome of social and behavioural factors. Suggestions for further research are outlined and include verifying these findings and identifying the neurological correlates of propensities to herd

The Role of Relapse Prevention and Goal Setting in Training Transfer Enhancement

This article reviews the effect of two post-training transfer interventions (relapse prevention [RP] and goal setting [GS]) on trainees’ ability to apply skills gained in a training context to the workplace. Through a review of post-training transfer interventions literature, the article identifies a number of key issues that remain unresolved or underexplored, for example, the inconsistent results on the impact of RP on transfer of training, the lack of agreement on which GS types are more efficient to improve transfer performance, the lack of clarity about the distinction between RP and GS, and the underlying process through which these two post-training transfer interventions influence transfer of training. We offer some recommendations to overcome these problems and also provide guidance for future research on transfer of training