Human-robot Interaction For Multi-robot Systems

Designing an effective human-robot interaction paradigm is particularly important for complex tasks such as multi-robot manipulation that require the human and robot to work together in a tightly coupled fashion. Although increasing the number of robots can expand the area that the robots can cover within a bounded period of time, a poor human-robot interface will ultimately compromise the performance of the team of robots. However, introducing a human operator to the team of robots, does not automatically improve performance due to the difficulty of teleoperating mobile robots with manipulators. The human operator’s concentration is divided not only among multiple robots but also between controlling each robot’s base and arm. This complexity substantially increases the potential neglect time, since the operator’s inability to effectively attend to each robot during a critical phase of the task leads to a significant degradation in task performance. There are several proven paradigms for increasing the efficacy of human-robot interaction: 1) multimodal interfaces in which the user controls the robots using voice and gesture; 2) configurable interfaces which allow the user to create new commands by demonstrating them; 3) adaptive interfaces which reduce the operator’s workload as necessary through increasing robot autonomy. This dissertation presents an evaluation of the relative benefits of different types of user interfaces for multi-robot systems composed of robots with wheeled bases and three degree of freedom arms. It describes a design for constructing low-cost multi-robot manipulation systems from off the shelf parts. User expertise was measured along three axes (navigation, manipulation, and coordination), and participants who performed above threshold on two out of three dimensions on a calibration task were rated as expert. Our experiments reveal that the relative expertise of the user was the key determinant of the best performing interface paradigm for that user, indicating that good user modiii eling is essential for designing a human-robot interaction system that will be used for an extended period of time. The contributions of the dissertation include: 1) a model for detecting operator distraction from robot motion trajectories; 2) adjustable autonomy paradigms for reducing operator workload; 3) a method for creating coordinated multi-robot behaviors from demonstrations with a single robot; 4) a user modeling approach for identifying expert-novice differences from short teleoperation traces

Protocol for the effective feedback to improve primary care prescribing safety (EFIPPS) study : a cluster randomised controlled trial using ePrescribing data

High-risk prescribing in primary care is common and causes considerable harm. Feedback interventions to improve care are attractive because they are relatively cheap to widely implement. There is good evidence that feedback has small to moderate effects, but the most recent Cochrane review called for more high-quality, large trials that explicitly test different forms of feedback. The study is a three-arm cluster-randomised trial with general practices being randomised and outcomes measured at patient level. 262 practices in three Scottish Health Board areas have been randomised (94% of all possible practices). The two active arms receive different forms of prescribing safety data feedback, with rates of high-risk prescribing compared with a ‘usual care’ arm. Sample size estimation used baseline data from participating practices. With 85 practices randomised to each arm, then there is 93% power to detect a 25% difference in the percentage of high-risk prescribing (from 6.1% to 4.5%) between the usual care arm and each intervention arm. The primary outcome is a composite of six high-risk prescribing measures (antipsychotic prescribing to people aged ≥75 years; non-steroidal anti-inflammatory drug (NSAID) prescribing to people aged ≥75 without gastroprotection; NSAID prescribing to people prescribed aspirin/clopidogrel without gastroprotection; NSAID prescribing to people prescribed an ACE inhibitor/angiotensin receptor blocker and a diuretic; NSAID prescription to people prescribed an oral anticoagulant without gastroprotection; aspirin/clopidogrel prescription to people prescribed an oral anticoagulant without gastroprotection). The primary analysis will use multilevel modelling to account for repeated measurement of outcomes in patients clustered within practices. The study was reviewed and approved by the NHS Tayside Committee on Medical Research Ethics B (11/ES/0001). The study will be disseminated via a final report to the funder with a publicly available research summary, and peer reviewed publications

The Impact of Age, Gender, Race, and Socioeconomic Indicators of Perceptions of Accepting Racially Diverse Members in the Family

This article explores the level of support when a family member chooses to marry a person from a different racial group. It investigates the role that race of the spouse plays along with selected demographic variables with respect to influencing marriage support attitudes. The differential assimilation hypothesis is employed as the theoretical foundation for guiding the statistical analysis. Information from the General Social Survey conducted in 2012 is used in the analytical. The findings demonstrated that when individuals decide to marry outside of their racial group, the racial background of the spouse has a major impact on family member acceptance. It was found that potential spouses from darker-skinned racial groups received less support for the union from family members. This research effort clearly highlighted color-grading as a social phenomenon and demonstrated the importance American society continues to place race and its role in social stratification

Data feedback and behavioural change intervention to improve primary care prescribing safety (EFIPPS):multicentre, three arm, cluster randomised controlled trial

Objective: To evaluate the effectiveness of feedback on safety of prescribing compared with moderately enhanced usual care. Design: Three arm, highly pragmatic cluster randomised trial. Setting and participants: 262/278 (94%) primary care practices in three Scottish health boards. Interventions: Practices were randomised to: "usual care," consisting of emailed educational material with support for searching to identify patients (88 practices at baseline, 86 analysed); usual care plus feedback on practice's high risk prescribing sent quarterly on five occasions (87 practices, 86 analysed); or usual care plus the same feedback incorporating a behavioural change component (87 practices, 86 analysed). Main outcome measures: The primary outcome was a patient level composite of six prescribing measures relating to high risk use of antipsychotics, non-steroidal anti-inflammatories, and antiplatelets. Secondary outcomes were the six individual measures. The primary analysis compared high risk prescribing in the two feedback arms against usual care at 15 months. Secondary analyses examined immediate change and change in trend of high risk prescribing associated with implementation of the intervention within each arm. Results: In the primary analysis, high risk prescribing as measured by the primary outcome fell from 6.0% (3332/55 896) to 5.1% (2845/55 872) in the usual care arm, compared with 5.9% (3341/56 194) to 4.6% (2587/56 478) in the feedback only arm (odds ratio 0.88 (95% confidence interval 0.80 to 0.96) compared with usual care; P=0.007) and 6.2% (3634/58 569) to 4.6% (2686/58 582) in the feedback plus behavioural change component arm (0.86 (0.78 to 0.95); P=0.002). In the pre-specified secondary analysis of change in trend within each arm, the usual care educational intervention had no effect on the existing declining trend in high risk prescribing. Both types of feedback were associated with significantly more rapid decline in high risk prescribing after the intervention compared with before. Conclusions: Feedback of prescribing safety data was effective at reducing high risk prescribing. The intervention would be feasible to implement at scale in contexts where electronic health records are in general use

Effective Feedback to Improve Primary Care Prescribing Safety (EFIPPS) a pragmatic three-arm cluster randomised trial:designing the intervention (ClinicalTrials.gov registration NCT01602705)

Peer reviewedPublisher PD

A generation apart? Youth and political participation in Britain

Conventional wisdom holds that young people in Britain are alienated from politics, with some claiming that this reflects a wider crisis of legitimacy that should be met by initiatives to increase citizenship. This article addresses these areas, presenting both panel survey and focus group data from first-time voters. It concludes that, contrary to the findings from many predominantly quantitative studies of political participation, young people are interested in political matters, and do support the democratic process. However they feel a sense of anti-climax having voted for the first time, and are critical of those who have been elected to positions of political power. If they are a generation apart, this is less to do with apathy, and more to do with their engaged scepticism about ‘formal’ politics in Britain

Workplace building design and office-based workers’ activity: a study of a natural experiment

Objective: This opportunistic natural study investigated the effects of relocation of office workers from a 30-year-old building to a new purpose-built building. The new building included an attractive central staircase that was easily accessed and negotiated, as well as breakout spaces and a centralised facilities area. The researchers aimed to determine the impact of the purpose-built office building on the office workers' sedentariness and level of physical activity. Method: In 2013, a natural pre-post study was undertaken with office-based workers in their old conventional 1970s building and on relocating to a new purpose-built ‘activity permissive’ building. Objective movement data was measured using accelerometers. Anthropometric and demographic data was also collected. Results: Forty-two office-based workers significantly decreased their percentage of daily sitting time (T1 = 84.9% to T2=79.7%; p<0.001) and increased their percentage of daily standing time (T1=11.2% to T2 17.0%; p<0.001) in the new building. Moderate activity significantly declined (T1=3.9% to 3.2%=T2; p=0.038). There was a significant decrease in mean minutes of sitting time (19.62 minutes; p<0.001) and increase in standing time (22.03 minutes; p<0.001). Conclusions: The design of a building can influence activity. This opportunistic study on the impact of workplace relocation on office-based workers' activity showed modest positive outcomes in sitting and standing. Evidence is required to inform building design policy and practice that supports physical activity and reduces levels of sedentariness in the workplace

Proanthocyanidin biosynthesis – still more questions than answers?

Article on proanthocyanidin biosynthesis