Planning actions in robot automated operations

Action planning in robot automated operations requires intelligent task level programming. Invoking intelligence necessiates a typical blackboard based architecture, where, a plan is a vector between the start frame and the goal frame. This vector is composed of partially ordered bases. A partial ordering of bases presents good and bad sides in action planning. Partial ordering demands the use of a temporal data base management system

Dual-task interference in action programming and action planning - Evidence from the end-state comfort effect

In the present study, we examined the extent of interference between a cognitive task (auditory n-back task) and different aspects of motor performance. Specifically, we wanted to find out whether such interference is more pronounced for aspects of planning as compared to programming. Here, motor planning is represented by a phenomenon called the end-state comfort effect , the fact that we tolerate uncomfortable initial postures in favour of a more comfortable final posture. We asked participants to grasp differently sized cylindrical objects and to place them on target platforms of varying height (grasp-and-place task), So, participants were required to (1) adjust their hand opening to the object width (action programming) and (2) to plan whether to grasp the object higher or lower in order to be able to place it comfortably onto the low or high target platform. We found that participants demonstrated the end-state comfort effect by anticipating the final posture und planning the movement accordingly with a higher object-grasp for low end-target position and lower object-grasp height for high end-target position, respectively. The auditory task was negatively affected by having to perform a visuomotor task in parallel, suggesting that the two tasks share cognitive and attentional resources. No significant impact from the auditory task on the motor tasks was found. Accordingly, it was not possible to determine which of the two motor aspects (programming or planning) contributed more towards the interference observed in the auditory task. To address this question, we carried out a second experiment. For this second experiment we focussed on the interference effects found in the auditory task and contrasted two versions of the grasp-and-place task. In the first version of the task, the height of the target-shelf varied from trial-to-trial but the width of the target object remained the same. We assumed that this version had high planning demands and low programming demands. In the second version the width of the target object varied and the target-shelf height remained constant. Presumably this increased programming demands but reduced planning demands. Significant interference with the auditory task was only found for the first version, supporting the hypothesis that motor planning requires more cognitive resources and thus creates higher multitasking costs

VR-Based Robot Programming and Simulation System for an Industrial Robot

Traditional robot programming such as teach by lead etc have been used for many years. These methods are considered not efficient and outdated in the current industrial and market demands. In this paper, virtual reality (VR) technology is used to improve human-robot interface - no complicated command or programming knowledge is required. The system is divided into three major parts: task teaching by demonstration in a computer generated virtual environment, a graphical robot simulator with intelligent robot command generator and last but not least, real task execution. The user is requested to complete the desired task in a virtual teaching system by wearing a data glove attached with a sensor tracker. The process path will be simulated and analyzed to obtain the optimum trajectory. Robot motions can be checked through the simulation program and robot program can be generated for the real task execution

Assessing the number of users who are excluded by domestic heating controls

This is the pre-print version of the Article. This Article is also referred to as: "Assessing the 'Design Exclusion' of Heating Controls at a Low-Cost, Low-Carbon Housing Development". - Copyright @ 2011 Taylor & FrancisSpace heating accounts for almost 60% of the energy delivered to housing which in turn accounts for nearly 27% of the total UK's carbon emissions. This study was conducted to investigate the influence of heating control design on the degree of ‘user exclusion’. This was calculated using the Design Exclusion Calculator, developed by the Engineering Design Centre at the University of Cambridge. To elucidate the capability requirements of the system, a detailed hierarchical task analysis was produced, due to the complexity of the overall task. The Exclusion Calculation found that the current design placed excessive demands upon the capabilities of at least 9.5% of the UK population over 16 years old, particularly in terms of ‘vision’, ‘thinking’ and ‘dexterity’ requirements. This increased to 20.7% for users over 60 years old. The method does not account for the level of numeracy and literacy and so the true exclusion may be higher. Usability testing was conducted to help validate the results which indicated that 66% of users at a low-carbon housing development could not programme their controls as desired. Therefore, more detailed analysis of the cognitive demands placed upon the users is required to understand where problems within the programming process occur. Further research focusing on this cognitive interaction will work towards a solution that may allow users to behave easily in a more sustainable manner

Improving Volunteer Productivity and Retention during Humanitarian Relief Efforts

In the aftermath of a disaster, humanitarian organizations quickly assemble a workforce that can immediately serve a community's needs. However, these needs change over time, and the volunteer base (and their skill sets) also changes over time. In this paper, a mathematical programming model is formulated to solve a volunteer assignment problem in which beneficiaries' needs are addressed based on how many volunteers are assigned to each of the levels of needs. In addition, we also examine the changes in these volunteer assignments based on several key cost parameters, need likelihood scenarios, and volunteer training opportunities. Under various demand scenarios, the optimum decision is to begin training some unskilled volunteers early in the response period even when the short-term, unskilled task demands are still high, in preparation for the more skilled, long-term task demands that are yet to come. Humanitarian relief organization managers who generally feel as though a peak of long-term/skilled volunteer task demands will come at some point during the disaster response should strongly consider allowing volunteer training assignments

Teaching mathematical modelling: a research based approach

A collaborative, research based laboratory experiment in mathematical modelling was included in a bioprocess engineering laboratory module, taught as part of an interdisciplinary program in biotechnology. The class was divided into six groups of three students and given the task of investigating a novel diafiltration process that is currently the focus of international research. Different aspects of the problem were assigned to each group and inter-group communication via email was required to ensure that there was a coherent set of objectives for each group and for the class as a whole. The software package, Berkeley Madonna, was used for all calculations. As well as giving the students an introduction to mathematical modelling and computer programming, this approach helped to illustrate the importance of research in bioprocess engineering. In general, the experiment was well received by the students and the fact that they were discovering new knowledge generated a degree of enthusiasm. However, many students were consumed by the technical demands of computer programming, especially the attention to detail required. Thus, they did not think too deeply about the physical aspects of the system they were modelling. In future years, therefore, consideration will be given to giving the student prior instruction in the use of the software

An investigation into usability and exclusivity issues of digital programmable thermostats

This is the pre-print version of the Article - Copyright @ 2011 Taylor & FrancisWith nearly 60% of domestic energy consumption relating to space heating, the interaction between users and their heating controls is crucial in reducing consumption. Yet, many heating controls are complex and exclude people due to the demands placed upon their capabilities in terms of vision, reach, dexterity and thinking. This study explores the scale of and reasons for user exclusion in relation to digital programmable thermostats. The Exclusion Calculator was used to estimate the percentage of the population excluded from the use of three products. Full user testing was then conducted to elicit specific usability problems of the devices. The participants were a group of 14 younger users (aged 24–44) and 10 older users (aged 62–75). The exclusion calculations underestimated the actual exclusion significantly for both age ranges (p<0.05). None of the older users were able to complete the programming of the thermostats. Additionally, the cognitive demands of these systems were considered using a subjective workload assessment method, based on the NASA Task Load Index, and were found to be excessive. In conclusion, this study makes recommendations to facilitate the design of more inclusive digital programmable thermostats. It is argued that such changes could result in reductions in domestic heat energy consumption.This work is funded by the ESPRC and Buro Happold