Comparing the Usefulness of Video and Map Information In Navigation Tasks

One of the fundamental aspects of robot teleoperation is the ability to successfully navigate a robot through an environment. We define successful navigation to mean that the robot minimizes collisions and arrives at the destination in a timely manner. Often video and map information is presented to a robot operator to aid in navigation tasks. This paper addresses the usefulness of map and video information in a navigation task by comparing a side-by-side (2D) representation and an integrated (3D) representation in both a simulated and a real world study. The results suggest that sometimes video is more helpful than a map and other times a map is more helpful than video. From a design perspective, an integrated representation seems to help navigation more than placing map and video side-by-side

Hiding the system from the user: Moving from complex mental models to elegant metaphors

In previous work, increased complexity of robot behaviors and the accompanying interface design often led to operator confusion and/or a fight for control between the robot and operator. We believe the reason for the conflict was that the design of the interface and interactions presented too much of the underlying robot design model to the operator. Since the design model includes the implementation of sensors, behaviors, and sophisticated algorithms, the result was that the operator’s cognitive efforts were focused on understanding the design of the robot system as opposed to focusing on the task at hand. This paper illustrates how this very problem emerged at the INL and how the implementation of new metaphors for interaction has allowed us to hide the design model from the user and allow the user to focus more on the task at hand. Supporting the user’s focus on the task rather than on the design model allows increased use of the system and significant performance improvement in a search task with novice users

How training and experience affect the benefits of autonomy in a dirty-bomb experiment

A dirty-bomb experiment conducted at the INL is used to evaluate the effectiveness and suitability of three different modes of robot control. The experiment uses three distinct user groups to understand how participants’ background and training affect the way in which they use and benefit from autonomy. The results show that the target mode, which involves automated mapping and plume tracing together with a point and click tasking tool, provides the best performance for each group. This is true for objective performance such as source detection and localization accuracy as well as subjective measures such as perceived workload, frustration and preference. The best overall performance is achieved by the Explosive Ordinance Disposal group which has experience in both robot teleoperation and dirty bomb response. The user group that benefits least from autonomy is the Nuclear Engineers that have no experience with either robot operation or dirty bomb response. The group that benefits most from autonomy is the Weapons of Mass Destruction Civil Response Team that has extensive experience related to the task, but no robot training

Using mixed-initiative human-robot interaction to bound performance in a search task

Mobile robots are increasingly used in dangerous domains, because they can keep humans out of harm’s way. Despite their advantages in hazardous environments, their general acceptance in other less dangerous domains has not been apparent and, even in dangerous environments, robots are often viewed as a “last-possible choice.” In order to increase the utility and acceptance of robots in hazardous domains researchers at the Idaho National Laboratory have both developed and tested novel mixed-initiative solutions that support the human-robot interactions. In a recent “dirty-bomb” experiment, participants exhibited different search strategies making it difficult to determine any performance benefits. This paper presents a method for categorizing the search patterns and shows that the mixed-initiative solution decreased the time to complete the task and decreased the performance spread between participants independent of prior training and of individual strategies used to accomplish the task

EVALUATING ROBOT TECHNOLOGIES AS TOOLS TO EXPLORE RADIOLOGICAL AND OTHER HAZARDOUS ENVIRONMENTS

There is a general consensus that robots could be beneficial in performing tasks within hazardous radiological environments. Most control of robots in hazardous environments involves master-slave or teleoperation relationships between the human and the robot. While teleoperation-based solutions keep humans out of harms way, they also change the training requirements to accomplish a task. In this paper we present a research methodology that allowed scientists at Idaho National Laboratory to identify, develop, and prove a semi-autonomous robot solution for search and characterization tasks within a hazardous environment. Two experiments are summarized that validated the use of semi-autonomy and show that robot autonomy can help mitigate some of the performance differences between operators who have different levels of robot experience, and can improve performance over teleoperated systems

SIC~POVMs and Clifford groups in prime dimensions

We show that in prime dimensions not equal to three, each group covariant symmetric informationally complete positive operator valued measure (SIC~POVM) is covariant with respect to a unique Heisenberg--Weyl (HW) group. Moreover, the symmetry group of the SIC~POVM is a subgroup of the Clifford group. Hence, two SIC~POVMs covariant with respect to the HW group are unitarily or antiunitarily equivalent if and only if they are on the same orbit of the extended Clifford group. In dimension three, each group covariant SIC~POVM may be covariant with respect to three or nine HW groups, and the symmetry group of the SIC~POVM is a subgroup of at least one of the Clifford groups of these HW groups respectively. There may exist two or three orbits of equivalent SIC~POVMs for each group covariant SIC~POVM, depending on the order of its symmetry group. We then establish a complete equivalence relation among group covariant SIC~POVMs in dimension three, and classify inequivalent ones according to the geometric phases associated with fiducial vectors. Finally, we uncover additional SIC~POVMs by regrouping of the fiducial vectors from different SIC~POVMs which may or may not be on the same orbit of the extended Clifford group.Comment: 30 pages, 1 figure, section 4 revised and extended, published in J. Phys. A: Math. Theor. 43, 305305 (2010

Soil hydrologic grouping guide which soil and weather properties best estimate corn nitrogen need

Nitrogen fertilizer recommendations in corn (Zea mays L.) that match the economically optimal nitrogen fertilizer rate (EONR) are imperative for profitability and minimizing environmental degradation. However, the amount of soil N available for the crop depends on soil and weather factors, making it difficult to know the EONR from year-to-year and from field-to-field. Our objective was to explore, within the framework of hydrologic soil groups and drainage classifications (HGDC), which site-specific soil and weather properties best estimated corn N needs (i.e., EONR) for two application timings (at-planting and side-dress). Included in this investigation was a validation step using an independent dataset. Forty-nine N response trials conducted across the U.S. Midwest Corn Belt over three growing seasons (2014–2016) were used for recommendation model development, and 181 independent site-years were used for validation. For HGDC models, soil organic matter (SOM), clay content, and evenness of rainfall distribution before side-dress N application were the properties generally most helpful in predicting EONR. Using the validation data, model recommendations were within 34 kg N ha–1 of EONR for 37 and 42% of the sites with a root mean square error (RMSE) of 70 and 68 kg N ha–1 for at-planting and side-dress applications, respectively. Compared to state-specific recommendations, sites needing ha–1 or no N were better estimated with HGDC models. In contrast, for sites where EONR was \u3e150 kg N ha–1, HGDC models underestimated N needs compared to state specific. These results show HGDC groupings could aid in developing tools for N fertilizer recommendations

Membranes by the Numbers

Many of the most important processes in cells take place on and across membranes. With the rise of an impressive array of powerful quantitative methods for characterizing these membranes, it is an opportune time to reflect on the structure and function of membranes from the point of view of biological numeracy. To that end, in this article, I review the quantitative parameters that characterize the mechanical, electrical and transport properties of membranes and carry out a number of corresponding order of magnitude estimates that help us understand the values of those parameters.Comment: 27 pages, 12 figure

Analytic properties of the Landau gauge gluon and quark propagators

We explore the analytic structure of the gluon and quark propagators of Landau gauge QCD from numerical solutions of the coupled system of renormalized Dyson--Schwinger equations and from fits to lattice data. We find sizable negative norm contributions in the transverse gluon propagator indicating the absence of the transverse gluon from the physical spectrum. A simple analytic structure for the gluon propagator is proposed. For the quark propagator we find evidence for a mass-like singularity on the real timelike momentum axis, with a mass of 350 to 500 MeV. Within the employed Green's functions approach we identify a crucial term in the quark-gluon vertex that leads to a positive definite Schwinger function for the quark propagator.Comment: 42 pages, 16 figures, revtex; version to be published in Phys Rev