4,673 research outputs found
In-home and remote use of robotic body surrogates by people with profound motor deficits
By controlling robots comparable to the human body, people with profound
motor deficits could potentially perform a variety of physical tasks for
themselves, improving their quality of life. The extent to which this is
achievable has been unclear due to the lack of suitable interfaces by which to
control robotic body surrogates and a dearth of studies involving substantial
numbers of people with profound motor deficits. We developed a novel, web-based
augmented reality interface that enables people with profound motor deficits to
remotely control a PR2 mobile manipulator from Willow Garage, which is a
human-scale, wheeled robot with two arms. We then conducted two studies to
investigate the use of robotic body surrogates. In the first study, 15 novice
users with profound motor deficits from across the United States controlled a
PR2 in Atlanta, GA to perform a modified Action Research Arm Test (ARAT) and a
simulated self-care task. Participants achieved clinically meaningful
improvements on the ARAT and 12 of 15 participants (80%) successfully completed
the simulated self-care task. Participants agreed that the robotic system was
easy to use, was useful, and would provide a meaningful improvement in their
lives. In the second study, one expert user with profound motor deficits had
free use of a PR2 in his home for seven days. He performed a variety of
self-care and household tasks, and also used the robot in novel ways. Taking
both studies together, our results suggest that people with profound motor
deficits can improve their quality of life using robotic body surrogates, and
that they can gain benefit with only low-level robot autonomy and without
invasive interfaces. However, methods to reduce the rate of errors and increase
operational speed merit further investigation.Comment: 43 Pages, 13 Figure
Automation and robotics for the Space Exploration Initiative: Results from Project Outreach
A total of 52 submissions were received in the Automation and Robotics (A&R) area during Project Outreach. About half of the submissions (24) contained concepts that were judged to have high utility for the Space Exploration Initiative (SEI) and were analyzed further by the robotics panel. These 24 submissions are analyzed here. Three types of robots were proposed in the high scoring submissions: structured task robots (STRs), teleoperated robots (TORs), and surface exploration robots. Several advanced TOR control interface technologies were proposed in the submissions. Many A&R concepts or potential standards were presented or alluded to by the submitters, but few specific technologies or systems were suggested
Diverse applications of advanced man-telerobot interfaces
Advancements in man-machine interfaces and control technologies used in space telerobotics and teleoperators have potential application wherever human operators need to manipulate multi-dimensional spatial relationships. Bilateral six degree-of-freedom position and force cues exchanged between the user and a complex system can broaden and improve the effectiveness of several diverse man-machine interfaces
NASA space station automation: AI-based technology review
Research and Development projects in automation for the Space Station are discussed. Artificial Intelligence (AI) based automation technologies are planned to enhance crew safety through reduced need for EVA, increase crew productivity through the reduction of routine operations, increase space station autonomy, and augment space station capability through the use of teleoperation and robotics. AI technology will also be developed for the servicing of satellites at the Space Station, system monitoring and diagnosis, space manufacturing, and the assembly of large space structures
Optical coherence tomography-based consensus definition for lamellar macular hole.
BackgroundA consensus on an optical coherence tomography definition of lamellar macular hole (LMH) and similar conditions is needed.MethodsThe panel reviewed relevant peer-reviewed literature to reach an accord on LMH definition and to differentiate LMH from other similar conditions.ResultsThe panel reached a consensus on the definition of three clinical entities: LMH, epiretinal membrane (ERM) foveoschisis and macular pseudohole (MPH). LMH definition is based on three mandatory criteria and three optional anatomical features. The three mandatory criteria are the presence of irregular foveal contour, the presence of a foveal cavity with undermined edges and the apparent loss of foveal tissue. Optional anatomical features include the presence of epiretinal proliferation, the presence of a central foveal bump and the disruption of the ellipsoid zone. ERM foveoschisis definition is based on two mandatory criteria: the presence of ERM and the presence of schisis at the level of Henle's fibre layer. Three optional anatomical features can also be present: the presence of microcystoid spaces in the inner nuclear layer (INL), an increase of retinal thickness and the presence of retinal wrinkling. MPH definition is based on three mandatory criteria and two optional anatomical features. Mandatory criteria include the presence of a foveal sparing ERM, the presence of a steepened foveal profile and an increased central retinal thickness. Optional anatomical features are the presence of microcystoid spaces in the INL and a normal retinal thickness.ConclusionsThe use of the proposed definitions may provide uniform language for clinicians and future research
SARSCEST (human factors)
People interact with the processes and products of contemporary technology. Individuals are affected by these in various ways and individuals shape them. Such interactions come under the label 'human factors'. To expand the understanding of those to whom the term is relatively unfamiliar, its domain includes both an applied science and applications of knowledge. It means both research and development, with implications of research both for basic science and for development. It encompasses not only design and testing but also training and personnel requirements, even though some unwisely try to split these apart both by name and institutionally. The territory includes more than performance at work, though concentration on that aspect, epitomized in the derivation of the term ergonomics, has overshadowed human factors interest in interactions between technology and the home, health, safety, consumers, children and later life, the handicapped, sports and recreation education, and travel. Two aspects of technology considered most significant for work performance, systems and automation, and several approaches to these, are discussed
Human robot interaction for future remote manipulations in Industry 4.0*
In the nuclear industry it is still common to rely on tele-operated robots. Tele-operation however can be strenuous and demanding on operating personnel and productivity can be low without advanced HRI interfaces. Today, the world is moving towards Industry 4.0. With that vision, this paper introduces the concept of Remotely Instructed Robots (RIRs), which are reliable yet rely on human intelligence. RIRs can accept high and low level instructions from the operator and execute tasks based on operators’ descriptions and at a variety of complexity levels. The paper outlines an agent model of RIRs and furthermore, presents how it could be implemented inside nuclear gloveboxes to achieve novel human robot interaction
Cyber-Virtual Systems: Simulation, Validation & Visualization
We describe our ongoing work and view on simulation, validation and
visualization of cyber-physical systems in industrial automation during
development, operation and maintenance. System models may represent an existing
physical part - for example an existing robot installation - and a software
simulated part - for example a possible future extension. We call such systems
cyber-virtual systems.
In this paper, we present the existing VITELab infrastructure for
visualization tasks in industrial automation. The new methodology for
simulation and validation motivated in this paper integrates this
infrastructure. We are targeting scenarios, where industrial sites which may be
in remote locations are modeled and visualized from different sites anywhere in
the world.
Complementing the visualization work, here, we are also concentrating on
software modeling challenges related to cyber-virtual systems and simulation,
testing, validation and verification techniques for them. Software models of
industrial sites require behavioural models of the components of the industrial
sites such as models for tools, robots, workpieces and other machinery as well
as communication and sensor facilities. Furthermore, collaboration between
sites is an important goal of our work.Comment: Preprint, 9th International Conference on Evaluation of Novel
Approaches to Software Engineering (ENASE 2014
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