Effects of spatial ability on multi-robot control tasks

Working with large teams of robots is a very complex and demanding task for any operator and individual differences in spatial ability could significantly affect that performance. In the present study, we examine data from two earlier experiments to investigate the effects of ability for perspective-taking on performance at an urban search and rescue (USAR) task using a realistic simulation and alternate displays. We evaluated the participants' spatial ability using a standard measure of spatial orientation and examined the divergence of performance in accuracy and speed in locating victims, and perceived workload. Our findings show operators with higher spatial ability experienced less workload and marked victims more precisely. An interaction was found for the experimental image queue display for which participants with low spatial ability improved significantly in their accuracy in marking victims over the traditional streaming video display. Copyright 2011 by Human Factors and Ergonomics Society, Inc. All rights reserved

Teams organization and performance analysis in autonomous human-robot teams

This paper proposes a theory of human control of robot teams based on considering how people coordinate across different task allocations. Our current work focuses on domains such as foraging in which robots perform largely independent tasks. The present study addresses the interaction between automation and organization of human teams in controlling large robot teams performing an Urban Search and Rescue (USAR) task. We identify three subtasks: perceptual search-visual search for victims, assistance-teleoperation to assist robot, and navigation-path planning and coordination. For the studies reported here, navigation was selected for automation because it involves weak dependencies among robots making it more complex and because it was shown in an earlier experiment to be the most difficult. This paper reports an extended analysis of the two conditions from a larger four condition study. In these two "shared pool" conditions Twenty four simulated robots were controlled by teams of 2 participants. Sixty paid participants (30 teams) were recruited to perform the shared pool tasks in which participants shared control of the 24 UGVs and viewed the same screens. Groups in the manual control condition issued waypoints to navigate their robots. In the autonomy condition robots generated their own waypoints using distributed path planning. We identify three self-organizing team strategies in the shared pool condition: joint control operators share full authority over robots, mixed control in which one operator takes primary control while the other acts as an assistant, and split control in which operators divide the robots with each controlling a sub-team. Automating path planning improved system performance. Effects of team organization favored operator teams who shared authority for the pool of robots. © 2010 ACM

Identifiying High Risk Areas of Zika Virus Infection by Meteorological Factors in Columbia

Background Several Zika virus (ZIKV) outbreaks have occurred since October 2015. Because there is no effective treatment for ZIKV infection, developing an effective surveillance and warning system is currently a high priority to prevent ZIKV infection. Despite Aedes mosquitos having been known to spread ZIKV, the calculation approach is diverse, and only applied to local areas. This study used meteorological measurements to monitor ZIKV infection due to the high correlation between climate change and Aedes mosquitos and the convenience to obtain meteorological data from weather monitoring stations. Methods This study applied the Bayesian structured additive regression modeling approach to include spatial interactive terms with meteorological factors and a geospatial function in a zero-inflated Poisson model. The study area contained 32 administrative departments in Colombia from October 2015 to December 2017. Weekly ZIKV infection cases and daily meteorological measurements were collected. Mapping techniques were adopted to visualize spatial findings. A series of model selections determined the best combinations of meteorological factors in the same model. Results When multiple meteorological factors are considered in the same model, both total rainfall and average temperature can best assess the geographic disparities of ZIKV infection. Meanwhile, a 1-in. increase in rainfall is associated with an increase in the logarithm of relative risk (logRR) of ZIKV infection of at most 1.66 (95% credible interval [CI] = 1.09, 2.15) as well as a 1 °F increase in average temperature is significantly associated with at most 0.79 (95% CI = 0.12, 1.22) increase in the logRR of ZIKV. Moreover, after controlling rainfall and average temperature, an independent geospatial function in the model results in two departments with an excessive ZIKV risk which may be explained by unobserved factors other than total rainfall and average temperature. Conclusion Our study found that meteorological factors are significantly associated with ZIKV infection across departments. The study determined both total rainfall and average temperature as the best meteorological factors to identify high risk departments of ZIKV infection. These findings can help governmental agencies monitor at risk areas according to meteorological measurements, and develop preventions in those at risk areas in priority

Effects of alarms on control of robot teams

Annunciator driven supervisory control (ADSC) is a widely used technique for directing human attention to control systems otherwise beyond their capabilities. ADSC requires associating abnormal parameter values with alarms in such a way that operator attention can be directed toward the involved subsystems or conditions. This is hard to achieve in multirobot control because it is difficult to distinguish abnormal conditions for states of a robot team. For largely independent tasks such as foraging, however, self-reflection can serve as a basis for alerting the operator to abnormalities of individual robots. While the search for targets remains unalarmed the resulting system approximates ADSC. The described experiment compares a control condition in which operators perform a multirobot urban search and rescue (USAR) task without alarms with ADSC (freely annunciated) and with a decision aid that limits operator workload by showing only the top alarm. No differences were found in area searched or victims found, however, operators in the freely annunciated condition were faster in detecting both the annunciated failures and victims entering their cameras' fields of view. Copyright 2011 by Human Factors and Ergonomics Society, Inc. All rights reserved

Artificial intelligence based direct torque control of induction motor drive system

In this project, a three-phase Induction motor (IM) under the direct torque control (DTC) technique is studied. IM is known for its simple engines and its self-starter feature but it always suffered a setback in the area of torque and speed control as it is a highly coupled nonlinear plant and proves to be most complex and expensive speed drive. The application of direct torque control (DTC) is beneficial for fast torque reaction in IM but provide high torque and ripples due to harmonic effects. Thus, the speed control of induction motor is important to achieve maximum torque and efficiency. The aim of this study is to improve tracking performance of the induction motor drive using artificial intelligence control system. A method for controlling induction motor drive is presented with Proportional-Integral (PI) controller and Artificial Neural Networks (ANNs) for performance comparison. MATLAB/SIMULINK software is used to develop a three-phase 2 pole-cage type induction motor model. Also the performances of the two controllers have been verified in terms of its speed and torque responses. The ANN is trained so that the speed of the drive tracks the reference speed. This study proved that the performance and dynamics of the induction motor are enhanced using ANN controller as compared with PI controller

Influence of cultural factors in dynamic trust in automation

The use of autonomous systems has been rapidly increasing in recent decades. To improve human-automation interaction, trust has been closely studied. Research shows trust is critical in the development of appropriate reliance on automation. To examine how trust mediates the human-automation relationships across cultures, the present study investigated the influences of cultural factors on trust in automation. Theoretically guided empirical studies were conducted in the U.S., Taiwan and Turkey to examine how cultural dynamics affect various aspects of trust in automation. The results found significant cultural differences in human trust attitude in automation

Layer-by-layer assembly of electrically conductive polymer thin films

Layer-by-layer (LbL) assembly was used to produce highly conductive thin films with carbon black (CB) and polyelectrolytes. The effects of sonication and pHadjustment of the deposition mixtures on the conductivity and transparency of deposited films were studied. Drying temperature was also evaluated with regard to thin film resistance. Sonication and oven drying at 70oC produced films with the lowest sheet resistance (~ 1500 é/sq), which corresponds to a bulk resistivity of 0.2 éâÂÂcm for a 14- bilayer film that is 1.3 üm thick. Increasing the pH of the PAA-stabilized mixture and decreasing the pH of the PEI-stabilized mixture resulted in films with 70% transparency due to thinner deposition from increased polymer charge density. Varying the number of bilayers allows both sheet resistance and optical transparency to be tailored over a broad range. Variation of deposition mixture composition led to further reduction of sheet resistance per bilayer. A 14 bilayer film, made from mixtures of 0.25wt% carbon black in 0.05wt% PAA and plain 0.1wt% PEI, was found to have a sheet resistance of approximately 325 é/sq. Bulk resistivity was not improved due to the film being 8 üm thick, but this combination of small thickness and low resistance is an order of magnitude better than carbon black filled composites made via traditional melt or solution processing. Applications for this technology lie in the areas of flexible electronics, electrostatic charge dissipation, and electromagnetic interference shielding

Asynchronous control with ATR for large robot teams

In this paper, we discuss and investigate the advantages of an asynchronous display, called "image queue", tested for an urban search and rescue foraging task. The image queue approach mines video data to present the operator with a relevant and comprehensive view of the environment by selecting a small number of images that together cover large portions of the area searched. This asynchronous approach allows operators to search through a large amount of data gathered by autonomous robot teams, and allows comprehensive and scalable displays to obtain a network-centric perspective for unmanned ground vehicles (UGVs). In the reported experiment automatic target recognition (ATR) was used to augment utilities based on visual coverage in selecting imagery for presentation to the operator. In the cued condition a box was drawn in the region in which a possible target was detected. In the no-cue condition no box was drawn although the target detection probability continued to play a role in the selection of imagery. We found that operators using the image queue displays missed fewer victims and relied on teleoperation less often than those using streaming video. Image queue users in the no-cue condition did better in avoiding false alarms and reported lower workload than those in the cued condition. Copyright 2011 by Human Factors and Ergonomics Society, Inc. All rights reserved

A spatial publish subscribe overlay for massively multiuser virtual environments

Proceedings of the International Conference on Electronics and Information Engineering, 2010, v. 2, p. 314-318Peer-to-peer (P2P) architectures have become popular for designing scalable virtual environments (VEs) in recent years. However, one question that remains is whether a single overlay can be flexible enough to support different types of VEs. We present S-VON, a P2P overlay that attempts this goal by providing spatial publish / subscribe (SPS) services. Besides flexibility, S-VON also aims to be practical and efficient by utilizing super-peers and considering the physical topology (i.e., network distance) to reduce latencies. Our simulations show that super-peers provide a unique design space where both bandwidth usage and latencies can be effectively reduced, such that even a crowded Second Life region can be hosted with residential ADSL. © 2010 IEEE.published_or_final_versio