Human-robot teamwork: a knowledge-based solution

Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para obtenção do grau de Mestre em Engenharia Electrotécnica e de ComputadoresTeams of humans and robots pose new challenges to the teamwork field. This stems from the fact that robots and humans have significantly different perceptual, reasoning, communication and actuation capabilities. This dissertation contributes to solving this problem by proposing a knowledge-based multi-agent system to support design and execution of stereotyped (i.e. recurring) human-robot teamwork. The cooperative workflow formalism has been selected to specify team plans, and adapted to allow activities to share structured data, even during their execution. This novel functionality enables tightly coupled interactions among team members. Rather than focusing on automatic teamwork planning, this dissertation proposes a complementary and intuitive knowledge-based solution for fast deployment and adaptation of small scale human-robot teams. In addition, the system has been designed in order to improve task awareness of each mission participant, and of the human overall mission awareness. A set of empirical results obtained from simulated and real missions proved the concept and the reusability of such a system. Practical results showed that this approach used is an effective solution for small scale teams in stereotyped human-robot teamwork

Human-robot Interaction For Multi-robot Systems

Designing an effective human-robot interaction paradigm is particularly important for complex tasks such as multi-robot manipulation that require the human and robot to work together in a tightly coupled fashion. Although increasing the number of robots can expand the area that the robots can cover within a bounded period of time, a poor human-robot interface will ultimately compromise the performance of the team of robots. However, introducing a human operator to the team of robots, does not automatically improve performance due to the difficulty of teleoperating mobile robots with manipulators. The human operator’s concentration is divided not only among multiple robots but also between controlling each robot’s base and arm. This complexity substantially increases the potential neglect time, since the operator’s inability to effectively attend to each robot during a critical phase of the task leads to a significant degradation in task performance. There are several proven paradigms for increasing the efficacy of human-robot interaction: 1) multimodal interfaces in which the user controls the robots using voice and gesture; 2) configurable interfaces which allow the user to create new commands by demonstrating them; 3) adaptive interfaces which reduce the operator’s workload as necessary through increasing robot autonomy. This dissertation presents an evaluation of the relative benefits of different types of user interfaces for multi-robot systems composed of robots with wheeled bases and three degree of freedom arms. It describes a design for constructing low-cost multi-robot manipulation systems from off the shelf parts. User expertise was measured along three axes (navigation, manipulation, and coordination), and participants who performed above threshold on two out of three dimensions on a calibration task were rated as expert. Our experiments reveal that the relative expertise of the user was the key determinant of the best performing interface paradigm for that user, indicating that good user modiii eling is essential for designing a human-robot interaction system that will be used for an extended period of time. The contributions of the dissertation include: 1) a model for detecting operator distraction from robot motion trajectories; 2) adjustable autonomy paradigms for reducing operator workload; 3) a method for creating coordinated multi-robot behaviors from demonstrations with a single robot; 4) a user modeling approach for identifying expert-novice differences from short teleoperation traces

Multiagent Teamwork: Hybrid Approaches

Conference paper published in CSI Communications</p

Smooth and Resilient Human–Machine Teamwork as an Industry 5.0 Design Challenge

Smart machine companions such as artificial intelligence (AI) assistants and collaborative robots are rapidly populating the factory floor. Future factory floor workers will work in teams that include both human co-workers and smart machine actors. The visions of Industry 5.0 describe sustainable, resilient, and human-centered future factories that will require smart and resilient capabilities both from next-generation manufacturing systems and human operators. What kinds of approaches can help design these kinds of resilient human–machine teams and collaborations within them? In this paper, we analyze this design challenge, and we propose basing the design on the joint cognitive systems approach. The established joint cognitive systems approach can be complemented with approaches that support human centricity in the early phases of design, as well as in the development of continuously co-evolving human–machine teams. We propose approaches to observing and analyzing the collaboration in human–machine teams, developing the concept of operations with relevant stakeholders, and including ethical aspects in the design and development. We base our work on the joint cognitive systems approach and propose complementary approaches and methods, namely: actor–network theory, the concept of operations and ethically aware design. We identify their possibilities and challenges in designing and developing smooth human–machine teams for Industry 5.0 manufacturing systems

An International Study in Competency Education: Postcards from Abroad

Acknowledging that national borders need not constrain our thinking, we have examined a selection of alternative academic cultures and, in some cases, specific schools, in search of solutions to common challenges we face when we consider reorganizing American schools. A wide range of interviews and e-mail exchanges with international researchers, government officials and school principals has informed this research, which was supplemented with a literature review scanning international reports and journal articles. Providing a comprehensive global inventory of competency-based education is not within the scope of this study, but we are confident that this is a representative sampling. The report that follows first reviews the definition of competency-based learning. A brief lesson in the international vocabulary of competency education is followed by a review of global trends that complement our own efforts to improve performance and increase equitable outcomes. Next, we share an overview of competency education against a backdrop of global education trends (as seen in the international PISA exams), before embarking on an abbreviated world tour. We pause in Finland, British Columbia (Canada), New Zealand and Scotland, with interludes in Sweden, England, Singapore and Shanghai, all of which have embraced practices that can inform the further development of competency education in the United States

Post-pandemic Office Spaces: : Considerations and Design Strategies for Hybrid Work Environments

This research investigated renovation considerations and design strategies for post-pandemic, hybrid office environment within an academic institution. The focus was on two case-study office spaces that are part of the same organization at the University of Utah, where the existing physical space was insufficient for future growth and non-functional for its novel, hybrid work mode structure. The objective was to evaluate the physical conditions of the existing office spaces, to investigate the employees’ working patterns and office culture, and to propose renovation strategies that would meet both the current and the projected future needs that support a hybrid work structure. The study was based on mixed-mode research methods, which included qualitative and quantitative methods. Qualitative methods included archival and empirical research of the existing office space conditions, as well as users’ input through online survey and focus group interviews. Using the latest, as-built construction drawings and current state photographs, 3D BIM models of each of the two office wings were developed, inclusive of their structural elements, partition walls, existing lighting fixture locations and specific furniture arrangements. These models were then used for egress, circulation, daylighting, and existing space planning analysis. Literature review was also conducted, identifying rising trends and design considerations for hybrid office workflow. Surveys and focus group interviews were conducted with current employees of the two offices to evaluate work patterns and space needs through user insight. Meanwhile, quantitative methods included quantitative analysis of the survey and focus group interview results, computational modeling, and visualization of the existing and proposed design strategies, as well as a review and validation of final design’s egress and accessibility compliance. Through several design option iterations, these results were used to provide space planning strategies and recommendations that meet the specific needs of these two office spaces. The final design, which considered users’ input regarding team dynamics, work schedules, and specific space and function needs, achieved a significant improvement in balances between team and individual space functions, private and public circulation, access to daylight and accessibility, while respecting the existing wall partitions, egress paths and occupancy counts. Moreover, the design solutions provided inclusive, comfortable, and functional spaces that catered to the specific work culture and individualized needs of employees. While this research focused on two specific case-studies, results demonstrate that through a user-integrated approach, significant improvements can be achieved to provide well-functioning spaces and a more comfortable and inclusive working environment. Additionally, the presented process that focuses on user-input and participation in the renovation design process can be applied to other existing, traditionally structured office spaces when transitioning to a hybrid office structure