Enhancing tele-operation - Investigating the effect of sensory feedback on performance

The decline in the number of healthcare service providers in comparison to the growing numbers of service users prompts the development of technologies to improve the efficiency of healthcare services. One such technology which could offer support are assistive robots, remotely tele-operated to provide assistive care and support for older adults with assistive care needs and people living with disabilities. Tele-operation makes it possible to provide human-in-the-loop robotic assistance while also addressing safety concerns in the use of autonomous robots around humans. Unlike many other applications of robot tele-operation, safety is particularly significant as the tele-operated assistive robots will be used in close proximity to vulnerable human users. It is therefore important to provide as much information about the robot (and the robot workspace) as possible to the tele-operators to ensure safety, as well as efficiency. Since robot tele-operation is relatively unexplored in the context of assisted living, this thesis explores different feedback modalities that may be employed to communicate sensor information to tele-operators. The thesis presents research as it transitioned from identifying and evaluating additional feedback modalities that may be used to supplement video feedback, to exploring different strategies for communicating the different feedback modalities. Due to the fact that some of the sensors and feedback needed are not readily available, different design iterations were carried out to develop the necessary hardware and software for the studies carried out. The first human study was carried out to investigate the effect of feedback on tele-operator performance. Performance was measured in terms of task completion time, ease of use of the system, number of robot joint movements, and success or failure of the task. The effect of verbal feedback between the tele-operator and service users was also investigated. Feedback modalities have differing effects on performance metrics and as a result, the choice of optimal feedback may vary from task to task. Results show that participants preferred scenarios with verbal feedback relative to scenarios without verbal feedback, which also reflects in their performance. Gaze metrics from the study also showed that it may be possible to understand how tele-operators interact with the system based on their areas of interest as they carry out tasks. This findings suggest that such studies can be used to improve the design of tele-operation systems.The need for social interaction between the tele-operator and service user suggests that visual and auditory feedback modalities will be engaged as tasks are carried out. This further reduces the number of available sensory modalities through which information can be communicated to tele-operators. A wrist-worn Wi-Fi enabled haptic feedback device was therefore developed and a study was carried out to investigate haptic sensitivities across the wrist. Results suggest that different locations on the wrist have varying sensitivities to haptic stimulation with and without video distraction, duration of haptic stimulation, and varying amplitudes of stimulation. This suggests that dynamic control of haptic feedback can be used to improve haptic perception across the wrist, and it may also be possible to display more than one type of sensor data to tele-operators during a task. The final study carried out was designed to investigate if participants can differentiate between different types of sensor data conveyed through different locations on the wrist via haptic feedback. The effect of increased number of attempts on performance was also investigated. Total task completion time decreased with task repetition. Participants with prior gaming and robot experience had a more significant reduction in total task completion time when compared to participants without prior gaming and robot experience. Reduction in task completion time was noticed for all stages of the task but participants with additional feedback had higher task completion time than participants without supplementary feedback. Reduction in task completion time varied for different stages of the task. Even though gripper trajectory reduced with task repetition, participants with supplementary feedback had longer gripper trajectories than participants without supplementary feedback, while participants with prior gaming experience had shorter gripper trajectories than participants without prior gaming experience. Perceived workload was also found to reduce with task repetition but perceived workload was higher for participants with feedback reported higher perceived workload than participants without feedback. However participants without feedback reported higher frustration than participants without feedback.Results show that the effect of feedback may not be significant where participants can get necessary information from video feedback. However, participants were fully dependent on feedback when video feedback could not provide requisite information needed.The findings presented in this thesis have potential applications in healthcare, and other applications of robot tele-operation and feedback. Findings can be used to improve feedback designs for tele-operation systems to ensure safe and efficient tele-operation. The thesis also provides ways visual feedback can be used with other feedback modalities. The haptic feedback designed in this research may also be used to provide situational awareness for the visually impaired

Spatiotemporal relationships between earthquakes of the Mid-Atlantic Ridge and the Atlantic continental margins

Thesis advisor: John E. EbelThe seismicity of the mid Atlantic Ridge (MAR) was compared in space and time with the seismicity along the Atlantic continental margins of Europe, Africa, North America, the Carribean and South America in a bid to appraise the level of influence of the ridge push force at the MAR on the Atlantic coastal seismicity. By analyzing the spatial and temporal patterns of many earthquakes (along with the patterns in their stress directions) in diverse places with similar tectonic settings, it is hoped that patterns that might be found indicate some of the average properties of the forces that are causing the earthquakes. The spatial analysis of the dataset set used shows that areas with higher seismic moment release along the north MAR spatially correlate with areas with relatively lower seismic moment release along the north Atlantic continental margins (ACM) and vice versa. This inverse spatial correlation observed between MAR seismicity and ACM seismicity might be due to the time (likely a long time) it takes stress changes from segments of the MAR currently experiencing high seismic activity to propagate to the associated passive margin areas presently experiencing relatively low seismic activity. Furthermore, the number of Atlantic basin and Atlantic coast earthquakes occurring away from the MAR is observed to be independent of the proximity of earthquake’s epicenters from the MAR axis. The effect of local stress as noted by Wysession et al. (1995) might have contributed to the independence of Atlantic basin and Atlantic coast earthquake proximity from the MAR. The Latchman (2011) observation of strong earthquakes on a specific section of the MAR being followed by earthquakes on Trinidad and Tobago was tested on other areas of the MAR and ACM. It was found that that the temporal delay observed by Latchman does not exist for the seismicity along other areas along the MAR and ACM. Within the time window used for this study, it appears that seismicity is occurring randomly in space away from the MAR. The weak anticorrelations between ACM and MAR seismicity show that the ridge push force probably has some level of influence on the ACM seismicity. However, as revealed from previous research on the study area, the forces resulting from lateral density contrasts related to topographic features and lateral density variations between oceanic and continental crust also appear to significantly influence the seismicity of the Atlantic coastal margins.Thesis (MS) — Boston College, 2015.Submitted to: Boston College. Graduate School of Arts and Sciences.Discipline: Geology and Geophysics

FUNDING AND ADMINISTRATION OF TERTIARY INSTITUTIONS IN EKITI STATE, NIGERIA

The study examined the impact of funding on the administration of tertiary institutions in Ekiti State, Nigeria. A descriptive research design of the correlational study was employed for the study. The population for the study consisted of four bursars, 24 Deans and 142 Heads of Departments. The sample consisted of four Bursars, 20 Deans and 60 Heads of Departments. Two sets of validated instruments, Administration of Tertiary Institutions Questionnaire (ATIQ) and Funding of Tertiary Institutions Questionnaire (FTIQ) were used to collect data from a sample of 80 respondents. A purposive sampling technique was used to select four Bursars while a simple random sampling technique was used to select 80 Deans and Heads of Departments. Percentage and Pearson product-moment correlation statistics were used for the study. The study revealed that the level of administration of tertiary institutions in Ekiti State was moderate; the extent of funding in tertiary institutions was moderate; there was a significant relationship between funding and administration of tertiary institutions; there was no significant relationship between grants, internally generated revenue and administration of tertiary institutions. It was recommended that administrators of tertiary institutions should not relent on their efforts at improving upon the level of administration and ensuring that they look inward and outward to source for revenue; source for regular grants; and endeavour to increase investment on some viable projects that can improve internally generated revenue.  Article visualizations

Incidence and relative abundance of rice stem borers in three selected rice fields in Lagos and Ogun States, Nigeria

This study was conducted to investigate the incidence of rice stem borer infestations and the species composition present in the selected rice fields. Data were collected between April 2017 and November 2018 across three locations, which include the upland rice field in Agbajege, Ogun state, rainfed lowland in Itoikin and Mangrove swamp in Igbogun, Lagos state, respectively.  The incidence of rice stem borers was indicated by dead heart and white heads symptoms, while tillers were excised for rice stem borer identification and population. Results showed a high and low incidence of rice stem borers with no significant difference(p>0.05) at p= 0.29 and 0.37 between the early and late planting seasons in the rainfed lowland and upland rice fields, respectively. Planting seasons were significant in the incidence of rice stem borers in mangrove swamp rice fields at p<0.05, p=0.01). This study showed that the predominant species of rice stem borers present in the three study sites were Chilo zacconius and Sesamia calamistis. C. zacconius was the most abundant species at 89% while S. calamistis was 11%. Rice stem borer populations were significantly higher at (p<0.05, p=0.000) in flooded zones while the highest rice stem borer populations were observed at the reproductive phase of the rice plants. This study showed that the planting seasons coincided with the peak period of the development of rice stem borers. Hence, conservation of natural enemies, monitoring and surveillance should be adopted in insect pest management in rice agroecosystems

Vehicle Body Shape Analysis of Tricycles for Reduction in Fuel Consumption

Growing concern about environmental protection and energy conservation has led a number of studies to increase fuel economy and reduction in emissions. From theoretical studies one of the major factors influencing fuel consumption is air resistance and developing ways to reduce this influencing factor could be achieved by designing vehicle body shape to have a low coefficient of air resistance. This paper focuses on the comparative analysis of fuel consumption of one of an existing tricycles and NASENI TP1 with reference to their body shapes. Solid models for these two different tricycles were done and simulated using Solidworks flowxpress. Mathematical models were applied to compare the rate of fuel consumption between the simulated models. The result of simulation shows that there is a 2% reduction in coefficient of drag (Cd) and 17.34% reduction in fuel consumption for NASENI TP1 as compared to the referenced tricycle

Effects of a Municipal Dumpsite on Groundwater Quality in Ikole Ekiti Area, Southwest Nigeria

A physico-chemical and bacteriological evaluation of water in three boreholes (numbered BH1, BH2, & BH3) close to a Municipal Solid Waste (MSW) disposal site at Ootunja Ekiti in Ikole Local Government Area (L.G.A.) of Ekiti State, Nigeria were carried out in order to ascertain suitability of the groundwater for potable uses. The water quality parameters obtained were compared with recommended limits of the World Health Organization (WHO) and Nigeria Standard of Drinking Water Quality (NSDWQ) for drinking water. Total dissolved solid (TDS) with a mean value of 16.64 mgl-1 was recorded. The cations and anions in the water were within the prescribed WHO and NSDWQ permissible limits. Chlorides content ranged between 12.0 and 16.0mg/l, while Nitrate content ranged from 6.12 to 7.10mg/l, quantities of heavy metals like Cadmium, Mercury and Lead varies from zero to a very minute content which is within the permissible limit of WHO and NSDWQ. Both organic content and faecal coliform count were satisfactory for water supply. The investigation shows pH values of 6.51, 7.05, and 5.79 for water samples obtained from BH1, BH2 and BH3 respectively. This indicates that the water from BH1 and BH3 were slightly acidic while water from BH 2 is neutral. The pH reading for water sample from BH3 is below the WHO and NSDWQ recommended standard

Teachers’ Preparedness for Lesson and Secondary School Student Academic Performance in Ekiti State, Nigeria

The study examined the relationship between teachers’ preparedness for lesson and secondary school student academic performance in Ekiti State, Nigeria. The purpose of the research is to find out the relationship between teachers’ preparedness for lesson and secondary school student academic performance. The descriptive research of the survey type was employed for the study. The study revealed that the level of secondary school student academic performance was relatively moderate; there was significant relationship between teachers’ preparedness for lesson and secondary school student academic performance. The study had shown that teachers’ preparedness for lesson had influence on secondary school student academic performance. Keywords: Teachers, Preparedness, Academic Performance, Lesson, Teachers’ Preparedness DOI: 10.7176/RHSS/10-2-06 Publication date: January 31st 202

Socio-demographic correlate of knowledge and practice toward COVID-19 among people living in Mosul-Iraq: A cross-sectional study

Since the World Health Organization (WHO) announced that the coronavirus disease (COVID-19) is a worldwide pandemic, many countries’ authorities, including the Iraqi authorities, started responding and taking action to control the spread of the pandemic. The public’s knowledge and practices play an important role in curbing the spreading of the virus by following the health guidelines. This study aimed to assess the socio-demographic correlate of knowledge and practices of Iraqi living in Mosul-Iraq towards COVID-19 during its rapid rise. A cross-sectional online survey of 909 participants was conducted among a sample of the Mosul-Iraq population between 20th June to 1st July 2020. The survey included three parts: 1) socio-demographic characteristics, 2) participants’ knowledge, 3) participants’ practices. T-test, ANOVA, chi-square, and binary logistic regression were used. A p-value less than 0.05 (p < 0.05) was considered statistically significant. The results showed a knowledge and practice mean score of (12.91±1.67) and (21.56± 2.92) with cumulative knowledge and practice of 86% and 76% respectively towards COVID-19. Socio-demographic characteristics such as age, marital status, gender, level of education and employment were statistically related with a higher mean score of knowledge and practice towards the virus as P<0.05. We concluded that the majority of the respondents demonstrate a high level of knowledge and practices towards COVID-19 except for respondents with socio-demographic characteristics such as those who were younger, male respondents, those with lower education and those unemployed as such campaigns that will increase the knowledge and encourage adequate preventive practice towards COVID-19 should be targeted towards this group

Assessing the Role of Gaze Tracking in Optimizing Humans-In-The-Loop Telerobotic Operation Using Multimodal Feedback

A key challenge in achieving effective robot teleoperation is minimizing teleoperators’ cognitive workload and fatigue. We set out to investigate the extent to which gaze tracking data can reveal how teleoperators interact with a system. In this study, we present an analysis of gaze tracking, captured as participants completed a multi-stage task: grasping and emptying the contents of a jar into a container. The task was repeated with different combinations of visual, haptic, and verbal feedback. Our aim was to determine if teleoperation workload can be inferred by combining the gaze duration, fixation count, task completion time, and complexity of robot motion (measured as the sum of robot joint steps) at different stages of the task. Visual information of the robot workspace was captured using four cameras, positioned to capture the robot workspace from different angles. These camera views (aerial, right, eye-level, and left) were displayed through four quadrants (top-left, top-right, bottom-left, and bottom-right quadrants) of participants’ video feedback computer screen, respectively. We found that the gaze duration and the fixation count were highly dependent on the stage of the task and the feedback scenario utilized. The results revealed that combining feedback modalities reduced the cognitive workload (inferred by investigating the correlation between gaze duration, fixation count, task completion time, success or failure of task completion, and robot gripper trajectories), particularly in the task stages that require more precision. There was a significant positive correlation between gaze duration and complexity of robot joint movements. Participants’ gaze outside the areas of interest (distractions) was not influenced by feedback scenarios. A learning effect was observed in the use of the controller for all participants as they repeated the task with different feedback combination scenarios. To design a system for teleoperation, applicable in healthcare, we found that the analysis of teleoperators’ gaze can help understand how teleoperators interact with the system, hence making it possible to develop the system from the teleoperators’ stand point

Lessons learned: Symbiotic autonomous robot ecosystem for nuclear environments

Nuclear facilities have a regulatory requirement to measure radiation levels within Post Operational Cleanout (POCO) around nuclear facilities each year, resulting in a trend towards robotic deployments to gain an improved understanding during nuclear decommissioning phases. The UK Nuclear Decommissioning Authority supports the view that human-in-the-loop robotic deployments are a solution to improve procedures and reduce risks within radiation haracterisation of nuclear sites. We present a novel implementation of a Cyber-Physical System (CPS) deployed in an analogue nuclear environment, comprised of a multi-robot team coordinated by a human-in-the-loop operator through a digital twin interface. The development of the CPS created efficient partnerships across systems including robots, digital systems and human. This was presented as a multi-staged mission within an inspection scenario for the heterogeneous Symbiotic Multi-Robot Fleet (SMuRF). Symbiotic interactions were achieved across the SMuRF where robots utilised automated collaborative governance to work together where a single robot would face challenges in full characterisation of radiation. Key contributions include the demonstration of symbiotic autonomy and query-based learning of an autonomous mission supporting scalable autonomy and autonomy as a service. The coordination of the CPS was a success and displayed further challenges and improvements related to future multi-robot fleets