Design and evaluation of a graphical user interface for facilitating expert knowledge transfer: a teleoperation case study

Nowadays, teleoperation systems are increasingly used for the training of specific skills to carry out complex tasks in dangerous environments. One of the challenges of these systems is to ensure that the time it takes for users to acquire these skills is as short as possible. For this, the user interface must be intuitive and easy to use. This document describes the design and evaluation of a graphical user interface so that a non-expert user could use a teleoperated system intuitively and without excessive training time. To achieve our goal, we use a user-centered design process model. To evaluate the interface, we use our own methodology and the results allow improving its usability.Peer ReviewedPostprint (author's final draft

Human-Machine Interfaces for Service Robotics

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

Measuring the impact of haptic feedback in collaborative robotic scenarios

[EN] In recent years, the interaction of a human operator with teleoperated robotic systems has been much improved. One of the factors influencing this improvement is the addition of force feedback to complement the visual feedback provided by traditional graphical user interfaces. However, the users of these systems performing tasks in isolated and safe environments are often inexperienced and occasional users. In addition, there is no common framework to assess the usability of these systems, due to the heterogeneity of applications and tasks, and therefore, there is a need for new usability assessment methods that are not domain specific. This study addresses this issue by proposing a measure of usability that includes five variables: user efficiency, user effectiveness, mental workload, perceived usefulness, and perceived ease of use. The empirical analysis shows that the integration of haptic feedback improves the usability of these systems for non-expert users, even though the differences are not statistically significant; further, the results suggest that mental workload is higher when haptic feedback is added. The analysis also reveals significant differences between participants depending on gender.SIPublicación en abierto financiada por el Consorcio de Bibliotecas Universitarias de Castilla y León (BUCLE), con cargo al Programa Operativo 2014ES16RFOP009 FEDER 2014-2020 DE CASTILLA Y LEÓN, Actuación:20007-CL - Apoyo Consorcio BUCL

An empirical examination of interdisciplinary collaboration within the practice of localisation and development of international software

Acceptance on international markets is an important selling proposition for software products and a key to new markets. The adaptation of software products for specific markets is called software localisation. Practitioner reports and research suggests that activities of developers and translators do not mesh seamlessly, leading to problems such as disproportionate cost, lack of quality, and delayed product release. Yet, there is little research on localisation as a comprehensive activity and its human factors. This thesis examines how software localisation is handled in practice, how the localisation process is integrated into development, and how software developers and localisers work individually and collaboratively on international software. The research aims to understand how localisation issues around the above-mentioned classifications of cost, quality and time issues are caused. Qualitative and quantitative data is gathered through semi-structured interviews and an online survey. The interviews focused on the individual experiences of localisation and development professionals in a range of relevant roles. The online survey measured cultural competence, attitude towards and self-efficacy in localisation, and properties of localisation projects. Interviews were conducted and analysed following Straussian Grounded Theory. The survey was statistically analysed to test a number of hypotheses regarding differences between localisers and developers, as well as relationships between project properties and software quality. Results suggest gaps in knowledge, procedure and motivation between developers and translators, as well as a lack of cross-disciplinary knowledge and coordination. Further, a grounded theory of interdisciplinary collaboration in software localisation explains how collaboration strategies and conflicts reciprocally affect each other and are affected by external influences. A number of statistically significant differences between developers and localisers and the relevance of certain project properties to localisation were confirmed. The findings give new insights into interdisciplinary issues in the development of international software and suggest new ways to handle interdisciplinary collaboration in general

Interfaces for human-centered production and use of computer graphics assets

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

Dynamics of Human-Robot Interaction in Domestic Environments

Domestic service robots are nowadays widely available on the consumer market. As such, robots have begun entering people’s homes and daily lives. However, it seems that the dissemination of domestic robots has not happened as easily and widespread as it was anticipated in the first place. Little is known about the reasons why because long-term studies of ordinary people using real robots in their homes are rare. To better understand how people interact, use and accept domestic robots, studies of human-robot interaction require ecologically valid settings and the user and their needs have to come into the focus. In this dissertation, we propose to investigate the dynamics of human-robot interaction in domestic environments. We first explore the field by means of a 6-month ethnographic study of nine households. We provided each of the households with a Roomba vacuum cleaning robot. Our motivation is to understand long-term acceptance and to identify factors that can promote and hinder the integration of a domestic service robot in different types of households. We would like to find out how people’s perception of the robot, and the way they interact with it and use it, evolve over time. Furthermore, as social factors were highlighted in previous studies on technology adoption in homes, we shed light on to what extent people view Roomba and other types of domestic robots as a social entity and to what extent they anthropomorphize it. Findings of this research can be used to guide the design of user-oriented robots that have the potential to lastingly become a valuable part within the home ecology. Then, we pursue the idea of developing our own domestic robot prototype that could be used in a household with children. We imagine a playful robot that aims to motivate young children to tidy up their toys. In a first evaluation of the robot in 14 family homes, we study the effect of a proactive and reactive robot behavior on children’s interaction with the robot and their motivation to tidy up. A follow-up experiment explores the possibility to sustain children’s engagement by manipulating the robot’s behavior in such way that it appears unexpected. We further investigate how far this influences children’s perception of the robot in terms of anthropomorphism. Our findings emphasize the importance of research in ecologically valid settings in order to obtain a better understanding of human-robot interaction, advance further the design of user-oriented robots and foster the long-term acceptance of these devices

Robots in Service and Nursing Care - An Investigation into Japan’s Robot Use and Development

Postponed access: the file will be accessible after 2020-11-30We are currently seeing a rapid growth in the investment and development of robots to assist or replace human workers and efforts in many aspects of life. Due to Japan’s proportionally large and growing elderly population along with a shrinking workforce, the Japanese government has chosen to promote the research, development, and use of robots in fields such as nursing care. Other countries are also facing the same problems as Japan but have not chosen to promote the alternative futuristic solution to the same extent. In a pursuit to better understand the impact that robots already have and will have on society and everyday life, we have researched the topic of assistive robots in the service and nursing care context. Through a design science framework and mixed methods approach, performing semi-structured interviews with robot developers, professors in robotics and nursing care staff, observations on the use of robots in real-life settings, case studies, and one experiment, we have developed a comprehensive analysis and understanding of the research problem. To analyze the data, content analysis and the grounded theory were used. An experiment and two case studies were used to investigate attitudes, perceived benefits, and disadvantages of using robots. Furthermore, interviews and observations were conducted at nursing care facilities to investigate the possibility of assisting or even substituting humans with robots in settings that usually require a sense of human warmth and care. Previous research often focusses on individual robots or on literature review without field data. It would seem like the literature is lacking a deeper perspective, while at the same time, painting a wider picture of the domain itself. Therefore, this research investigated the development and experiences with robots that already exist and have been tested in real-world settings. The findings of the study summarized the literature on robots in nursing care, attitudes towards robots across countries and Japan’s strategy for further integrating robots into their society. Other results include real experience with the use of robots in nursing facilities and theories grounded in the ideas and thoughts behind the development of robots commonly used today. An experiment exploring empathy towards robots demonstrated the distinctiveness of robots, as compared to dolls, in enhanced empathy towards them. Two case studies captured views from university students and primary school pupils based on interaction with the humanoid robot Pepper. Pupils found Pepper to be useful and likable, while university students found the interaction to be fun, but frustrating at times. Based on the field studies, we could conclude that Japanese robot developers and researches recommend robots to be inferior to users in terms of intelligence and relationship, but also capable of easy interaction and ideally reading between lines in communication. In nursing care, robots are currently taking the role of pets (Paro and Qoobo), a child (Pepper, Paro, PALRO, RoBoHon, and Smibi) and even as a staff member (Pepper), capable of entertaining and accompanying elderly to help with mental well-being. There might be a current lack of ethical and safety standards for such robots. However, safety and ethical issues are considered by developers and professors in terms of privacy, deception, attachment, mechanical safety. Current robots have different levels of cognitive capacities depending on purpose and interaction style. Goals for the future include improvement in aspects such as intelligence, marketing strategies, and educating users on robots’ capabilities and limitations.Masteroppgave i informasjonsvitenskapINFO390MASV-IKTMASV-INF

Knowledge representation and exploitation for interactive and cognitive robots

L'arrivée des robots dans notre vie quotidienne fait émerger le besoin pour ces systèmes d'avoir accès à une représentation poussée des connaissances et des capacités de raisonnements associées. Ainsi, les robots doivent pouvoir comprendre les éléments qui composent l'environnement dans lequel ils évoluent. De plus, la présence d'humains dans ces environnements et donc la nécessité d'interagir avec eux amènent des exigences supplémentaires. Ainsi, les connaissances ne sont plus utilisées par le robot dans le seul but d'agir physiquement sur son environnement mais aussi dans un but de communication et de partage d'information avec les humains. La connaissance ne doit plus être uniquement compréhensible par le robot lui-même mais doit aussi pouvoir être exprimée. Dans la première partie de cette thèse, nous présentons Ontologenius. C'est un logiciel permettant de maintenir des bases de connaissances sous forme d'ontologie, de raisonner dessus et de les gérer dynamiquement. Nous commençons par expliquer en quoi ce logiciel est adapté aux applications d'interaction humain-robot (HRI), notamment avec la possibilité de représenter la base de connaissances du robot mais aussi une estimation des bases de connaissances des partenaires humains ce qui permet d'implémenter les mécanismes de théorie de l'esprit. Nous poursuivons avec une présentation de ses interfaces. Cette partie se termine par une analyse des performances du système ainsi développé. Dans une seconde partie, cette thèse présente notre contribution à deux problèmes d'exploration des connaissances: l'un ayant trait au référencement spatial et l'autre à l'utilisation de connaissances sémantiques. Nous commençons par une tâche de description d'itinéraires pour laquelle nous proposons une ontologie permettant de décrire la topologie d'environnements intérieurs et deux algorithmes de recherche d'itinéraires. Nous poursuivons avec une tâche de génération d'expression de référence. Cette tâche vise à sélectionner l'ensemble optimal d'informations à communiquer afin de permettre à un auditeur d'identifier l'entité référencée dans un contexte donné. Ce dernier algorithme est ensuite affiné pour y ajouter les informations sur les activités passées provenant d'une action conjointe entre un robot et un humain, afin de générer des expressions encore plus pertinentes. Il est également intégré à un planificateur de tâches symbolique pour estimer la faisabilité et le coût des futures communications. Cette thèse se termine par la présentation de deux architectures cognitives, la première utilisant notre contribution concernant la description d'itinéraire et la seconde utilisant nos contributions autour de la Génération d'Expression de Référence. Les deux utilisent Ontologenius pour gérer la base de connaissances sémantique. À travers ces deux architectures, nous présentons comment nos travaux ont amené la base de connaissances a progressivement prendre un rôle central, fournissant des connaissances à tous les composants du système.As robots begin to enter our daily lives, we need advanced knowledge representations and associated reasoning capabilities to enable them to understand and model their environments. Considering the presence of humans in such environments, and therefore the need to interact with them, this need comes with additional requirements. Indeed, knowledge is no longer used by the robot for the sole purpose of being able to act physically on the environment but also to communicate and share information with humans. Therefore knowledge should no longer be understandable only by the robot itself, but should also be able to be narrative-enabled. In the first part of this thesis, we present our first contribution with Ontologenius. This software allows to maintain knowledge bases in the form of ontology, to reason on them and to manage them dynamically. We start by explaining how this software is suitable for \acrfull{hri} applications. To that end, for example to implement theory of mind abilities, it is possible to represent the robot's knowledge base as well as an estimate of the knowledge bases of human partners. We continue with a presentation of its interfaces. This part ends with a performance analysis, demonstrating its online usability. In a second part, we present our contribution to two knowledge exploration problems around the general topic of spatial referring and the use of semantic knowledge. We start with the route description task which aims to propose a set of possible routes leading to a target destination, in the framework of a guiding task. To achieve this task, we propose an ontology allowing us to describe the topology of indoor environments and two algorithms to search for routes. The second knowledge exploration problem we tackle is the \acrfull{reg} problem. It aims at selecting the optimal set of piece of information to communicate in order to allow a hearer to identify the referred entity in a given context. This contribution is then refined to use past activities coming from joint action between a robot and a human, in order to generate new kinds of Referring Expressions. It is also linked with a symbolic task planner to estimate the feasibility and cost of future communications. We conclude this thesis by the presentation of two cognitive architectures. The first one uses the route description contribution and the second one takes advantage of our Referring Expression Generation contribution. Both of them use Ontologenius to manage the semantic Knowledge Base. Through these two architectures, we present how our contributions enable Knowledge Base to gradually take a central role, providing knowledge to all the components of the architectures

Development of a mixed reality application to perform feasibility studies on new robotic use cases

Dissertação de mestrado integrado em Engenharia e Gestão IndustrialManufacturing companies are trying to affirm their position in the market by introducing new concepts and processes to their production systems. For this purpose, new technologies must be employed to ensure better performance and quality of their processes. Robotics has evolved a lot in the past years, creating new hardware and software technologies to answer the increasing demands of the markets. Collaborative robots are seen as one of the emerging and most promising technologies to answer industry 4.0 necessities. However, the expertise needed to implement these robots is not often found in small and medium-sized enterprises that represent a large share of the existing manufacturing companies. At the same time, mixed reality represents a new and immersive way to test new processes without physically deploying them. To tackle this problem, a mixed reality application is developed from top to bottom, aiming to facilitate the research and feasibility studies of new robotic use cases in the pre-study implementation phase. This application serves as a proof-of-concept, and it is not developed for the end user. First, the application's requirements are set to answer the manufacturing companies’ needs, providing two testing robots, an intuitive robot placement method, a trajectory modeling and parameterization system, and a result framework. Then the development of the application’s functionalities is explained, answering the requirements previously established. A collision detection system was defined and developed to perceive self and environmental collisions. Furthermore, a novel process to configure the robot based on imitation learning was developed. In the end, a painting tool was integrated into the robot's 3D model and used for a use-case study of a painting task. Then, the results were registered, and the application was accessed according to the non-functional requirements. Finally, a qualitative analysis was made to evaluate the fields where this new concept can help manufacturing companies improve the implementation success of new robotic applications.As empresas de manufatura estão a tentar afirmar sua posição no mercado introduzindo novos conceitos e processos nos seus sistemas de produção. Para isso, novas tecnologias devem ser empregues para garantir um melhor desempenho e qualidade dos seus processos. O campo da robótica evoluiu bastante nos últimos anos, criando novas tecnologias de hardware e software para atender à crescente procura dos mercados. Neste sentido, os robots colaborativos surgem como uma das tecnologias mais promissoras para atender às necessidades da indústria 4.0. No entanto, o conhecimento necessário para implementar este tipo de robots não é frequentemente encontrado em pequenas e médias empresas que representam grande parte das empresas de manufatura existentes. Ao mesmo tempo, a realidade mista representa uma maneira nova e imersiva de testar novos processos sem implementá-los fisicamente. Para fazer face ao problema, uma aplicação de realidade mista é desenvolvida com o objetivo de facilitar a pesquisa e realização de estudos de viabilidade de novos casos de uso de robótica na fase de pré-estudo da sua implementação. A aplicação serve como prova de conceito e não é desenvolvida para o utilizador final. Primeiramente, os requisitos da aplicação são definidos de acordo com as necessidades das empresas de manufatura, sendo fornecidos dois robots de teste, um método intuitivo de posicionamento, um sistema de modelagem e parametrização de trajetórias e uma estrutura de resultados. Em seguida é apresentado o processo de desenvolvimento das funcionalidades da aplicação, tendo em conta os requisitos previamente estabelecidos. Um sistema de deteção de colisões foi pensado e desenvolvido para localizar e representar colisões do robot com a sua própria estrutura física e com o ambiente real. Além disso, foi desenvolvido um novo processo para definir a pose inicial do robot baseado na aprendizagem por imitação. No final, uma ferramenta de pintura foi desenvolvida e integrada no modelo 3D do robot com o objetivo de estudar o desempenho da aplicação numa tarefa de pintura. Em seguida, os resultados foram registados e a aplicação avaliada de acordo com os requisitos não funcionais. Por fim, foi realizada uma análise qualitativa para avaliar os campos em que este novo conceito pode ajudar as empresas de manufatura a melhorar o sucesso da implementação de novas aplicações robóticas

Human-Machine Communication: Complete Volume. Volume 6

his is the complete volume of HMC Volume 6