46 research outputs found
Reinforcement Learning-based Virtual Fixtures for Teleoperation of Hydraulic Construction Machine
The utilization of teleoperation is a crucial aspect of the construction
industry, as it enables operators to control machines safely from a distance.
However, remote operation of these machines at a joint level using individual
joysticks necessitates extensive training for operators to achieve proficiency
due to their multiple degrees of freedom. Additionally, verifying the machine
resulting motion is only possible after execution, making optimal control
challenging. In addressing this issue, this study proposes a reinforcement
learning-based approach to optimize task performance. The control policy
acquired through learning is used to provide instructions on efficiently
controlling and coordinating multiple joints. To evaluate the effectiveness of
the proposed framework, a user study is conducted with a Brokk 170 construction
machine by assessing its performance in a typical construction task involving
inserting a chisel into a borehole. The effectiveness of the proposed framework
is evaluated by comparing the performance of participants in the presence and
absence of virtual fixtures. This study results demonstrate the proposed
framework potential in enhancing the teleoperation process in the construction
industry
User-centered design in mobile human-robot cooperation: consideration of usability and situation awareness in GUI design for mobile robots at assembly workplaces
Mobile cobots can increase the potential for assembly work in industry. For human-friendly automation of cooperative assembly work, user-centered interfaces are necessary. The design process regarding user interfaces for mobile human-robot cooperation (HRC) shows large research gaps. In this article an exemplary approach is shown to design a graphical user interface (GUI) for mobile HRC at assembly workplaces. The design is based on a wireframe developed to support situation awareness. An interactive mockup is designed and evaluated. This is done in two iterations. In the first iteration, a user analysis is carried out using a quantitative survey with n = 31 participants to identify preferred input modalities and a qualitative survey with n = 11 participants that addresses touch interfaces. The interactive mockup is developed by implementing design recommendations of the usability standards ISO 9241 – 110, 112 and 13. A heuristic evaluation is conducted with n = 5 usability experts and the measurement of situation awareness with n = 30 end users. In the second iteration, findings from the preceding iteration are implemented in the GUI and a usability test with n = 20 end users is conducted. The process demonstrates a combination of methods that leads to high usability and situation awareness in mobile HRC