International collaboration in teaching and research has expanded as a result of the widespread accessibility and use of the World Wide Web. While on-line education has experienced the greatest growth, the use of remote laboratories in research and teaching is relatively new. The development of a remote ergonomics laboratory using a new Internet technology is described. The purpose of the remote laboratory is to provide international access to an advanced thermal manikin technology which provides a platform for measuring the thermodynamic properties of protective clothing during exposure to controlled environmental conditions. To date, the laboratory has generated global interest and promoted international collaboration in ergonomics teaching and research.Međunarodna suradnja u nastavi i istraživanjima porasla je kao rezultat raširenosti i dostupnosti globalne mreže. Iako je primjena e-obrazovanja iznimno poraslo, uporaba daljinskih laboratorija u istraživanju i nastavi relativno je nova. Opisan je razvoj daljinskog ergonomijskog laboratorija pomoću internetske tehnologije. Svrha daljinskog laboratorija jest da se diljem svijeta omogući pristup naprednoj tehnologiji manekena na termalno napuhavanje koja nudi temelj za mjerenje termodinamičkih svojstava zaštitne odjeće tijekom izlaganja kontroliranim uvjetima okoline. Laboratorij je izazvao opće zanimanje te promiče međunarodnu suradnju na području nastave i istraživanja u ergonomiji

Budimir Mijović

Uwe Reischl

English

Hrčak - Portal of scientific journals of Croatia

35SUBJECT REVIEWKey words: robotic control, laboratory, ergonomySUMMARY: International collaboration in teaching and research has expanded as a result of the wi-despread accessibility and use of the World Wide Web. While on-line education has experienced the greatest growth, the use of remote laboratories in research and teaching is relatively new. The development of a remote ergonomics laboratory using a new Internet technology is described. The purpose of the remote laboratory is to provide international access to an advanced thermal manikin technology which provides a platform for measuring the thermodynamic properties of protective clothing during exposure to controlled environmental conditions. To date, the laboratory has gene-rated global interest and promoted international collaboration in ergonomics teaching and research.*Prof. Uwe Reischl, Ph.D., MD (ureischl@boisestate.edu) Boise State University, Boise, Idaho, USA, Budimir Mijović, Ph.D. (budimir.mijovic@ttf.hr), Faculty of Textile Technology, University of Zagreb, Croatia. UDK 331.101.1:007.52RECEIVED: 2014-04-25ACCEPTED: 2015-01-05USE OF ROBOTIC CONTROLS IN ERGONOMICS LABORATORIES U. Reischl, B. Mijović*SIGURNOST 57 (1) 35 - 40 (2015)INTRODUCTION Rapid expansion of Internet use and its growing popularity as a social media tool has impacted communication and education worldwide in a positive way. The technology also offers new opportunities in engineering and science educati-on and provides new avenues for teaching throu-gh interactive experimentation and simulation (Se-lmer, Kraft, Moros, and Colton, 2007). Broadband availability in conjunction with data compression programs make quality audio and video streaming of lectures on the Internet possible. Computer and Internet based learning has now become an im-portant part of education internationally. A special challenge for online education in the engineering, science, and technology fields, however, is how to include the traditional hands-on laboratory settings through the Internet. Hands-on laboratories have been an integral part of most human factors and ergonomics education in the past (Feisel and Rosa, 2005). Concepts presented in lectures are usually complemented with laboratory experimentation. Traditionally, hands-on education has been consi-dered the “backbone” of engineering and science education which allows students to conduct prac-tical experiments, allows students to observe dyna-mic phenomena in real-time, allows students to test hypotheses, allows students to learn from their mistakes, and offers students the opportunity to re-ach their own conclusions (Tompkins and Pingen, 2002). With the rapid advances in microprocessor and communication technologies, more and more equipment can now be reconfigured and con-trolled remotely. This development has made han-ds-on training via the internet possible. Currently, there are two approaches to conducting laboratory exercises online. These include virtual labs and re-mote labs. The virtual laboratories are based on software that simulates the laboratory environment only. They are especially useful when equipment is too expensive, unsafe, or unavailable for use by students. Virtual laboratories, on the other hand, 36SIGURNOST 57 (1) 35 - 40 (2015)U. Reischl, B. Mijović: Use of robotic controls in ...allow students to repeat an experiment multiple times, giving them the chance to see how chan-ged parameters and settings can affect the outco-me. Since the virtual laboratory exists only in the computer, students can learn safely from failures without causing physical damage. Remote labora-tories, however, are actual physical facilities used to conduct experiments and, when not used pro-perly, may cause damage or harm. Such facilities are controlled remotely in real-time through the Internet. The experiments use actual equipment and actual instruments. However, they are loca-ted at a different place from where they are being controlled.To promote student access to hands-on lear-ning in the field of ergonomics and human factors engineering, not only at the local level but also regionally and internationally, an existing thermal manikin laboratory at Boise State University was reconfigured to accommodate the Internet-based remote control technology. The laboratory now serves as an educational platform for academic partner institutions regionally and internationally.THE LABORATORYThe Ergonomics Laboratory is equipped with a thermal manikin system capable of assessing the heat exchange characteristics of protective clot-hing worn under controlled environmental condi-tions. Equipment includes a manikin air pressure system, manikin air heating system, environmen-tal ventilators, infrared radiators, and digital ther-mometers measuring manikin input and output temperatures needed to compute the manikin heat gain or heat loss.IT IssuesBefore the facility became suitable for use as a remote laboratory, the IT infrastructure for the remo-te connections had to be resolved. Issues relating to network firewall policies and the selection of appro-priate software providing the connection and inter-face needed to be agreed upon also prior to start-up. Training Initiating a remote laboratory experiment always requires a support staff. Furthermore, stu-dents and researchers must be fully aware of the experimental procedures, must be knowledgeable in using the remote controls properly and safely, and must be aware of the time requirements asso-ciated with collecting accurate data. This can be achieved through in-house training.Outcome AssessmentAssessing the learning outcome or value of the remote laboratory assignments requires the collection and evaluation of feedback from the student users. This information should be used to correct deficiencies and should be used to modify the laboratory experience. Use of a remote labo-ratory presents an on-going learning and revision process for the laboratory sponsors as well as for the laboratory users. ROBOTIC CONTROLSThe Internet platform serving the Remote La-boratory at Boise State University is provided by Apriori, LLC through its “Reach-In” browser technology. This system allows novice Internet users, i.e. users with no special computer skills, the ability to control mechanical devices through the internet using their computer and their home Internet connections. This functionality is possible in any geographical location in the world that has Internet access.  Technology AdvantagesThe technology platform provides opportuni-ties for long-distance international remote labora-tory use in the following ways:  • The software reduces latency to less than 1 second which makes it suitable for visual control of the instruments and equipment.• The software works in all major browsers without the need for special downloads.• The software can control any hardware component over the web.• The technology allows many users to inte-ract on one site without compromising the quality for the user in control.• A queuing methodology allows for global users to join a queue from anywhere on the Internet. 37SIGURNOST 57 (1) 35 - 40 (2015)U. Reischl, B. Mijović: Use of robotic controls in ...A student or researcher with sufficient connec-tion speed can log onto the remote laboratory website and control all of the assigned laboratory devices from anywhere in the world. The user has the ability to control a camera, pan up and down, and zoom in and out on every instrument located in the laboratory. At a click of their mouse, a user can control multiple mechanical devices at any one time. The laboratory remote control schema-tic illustrating the relationship between the key components and the sub-systems of the laboratory are illustrated in Figure 1.Figure 1. Layout for of the laboratory remote                      control systemSlika 1. Organizacija laboratorijskog sustava na               daljinsko upravljanjeSYSTEM FEATURESThe key feature of this system lies in its ar-chitecture which minimizes the latency time of the hardware components and the latency of the software that controls all of the devices. A main server acts as a “hub” for all information transfer. A dedicated replication server is included that handles the video stream separately since the vi-deo stream represents the largest amount of data transfer. A camera is connected to an on-site con-trol box. The mechanical devices in the labora-tory are connected to motherboard located inside the control box which converts the digital data signals into voltage outputs. The voltage outputs act as the driving force to articulate the geared camera hardware back and forth, up and down, on, and of, etc. A kernel of software is located on the control box that communicates with the main servers providing an “IsAlive” beacon. Service technicians can respond if the “IsAlive” beacon does not check-in within 15 seconds.LABORATORY USEThe ergonomics laboratory contains an infla-table thermal manikin system designed to mea-sure the heat transfer characteristics of clothing systems. The technical design features are illustra-ted in Figure 2. While the manikin needs to be clothed by a staff member, all controls required to operate the system can be manipulated remo-tely via the Internet. A student, or a researcher, logs on to the laboratory website and sees the laboratory “live” through a camera that is in the “ON” position 24/7 i.e. all the time. The came-ra is illustrated in Figure 3. The user can engage the manikin sub systems consisting of the manikin air pressure system and the manikin internal air heating system activated through by the power control relays as shown is Figure 4. This provi-des the “start-up” operating configuration for the manikin. The manikin must reach thermal equili-brium with the laboratory environment prior to te-sting. The user can then operate the laboratory IR exposure lamps and the laboratory cooling fans to change the manikin exposure conditions. Using the camera’s directional controls and the “zoom” feature, the user can monitor the digital thermo-meters that display the manikin input air tempera-ture as well as the manikin output air temperature as illustrated in Figure 5. The temperature values are then used to calculate the heat loss or heat gain exhibited by the manikin during exposure to the various environmental conditions and / or clothing configurations. CONDUCTING AN EXPERIMENTTo determine the heat transfer characteristics of a garment requires the student or researcher to perform two measurement procedures sequenti-ally by using the following steps which are illu-strated schematically in Figure 6:38SIGURNOST 57 (1) 35 - 40 (2015)U. Reischl, B. Mijović: Use of robotic controls in ...• The thermal manikin must first reach ther-mal equilibrium in a “semi-nude” confi-guration (wearing short pants only).  This serves as the “control” configuration as illustrated in Figure 7A.• The temperature difference between out-put air and input air is then observed and recorded and subsequently entered into a standard energy loss calculation (formula). • Once thermal equilibrium is reached, heat radiation exposures or wind conditions can be added. Again, the manikin input and output temperature values are recorded at equilibrium.• To measure the thermal characteristics of clothing systems, the procedures used for the “control” conditions are repea-ted with the exception that the manikin is now clothed as shown in Figure 7B. The energy loss values are then compared to the “control” conditions. This provides va-lues for the thermal properties of the clot-hing system being tested under the selected environmental exposure conditions. Figure 3. Remote controlled internet camera allowing un-interrupted visual access to the laboratorySlika 3. Internetska kamera na daljinsko upravljanje koja omogućava neprekidan vizualni pristup laboratorijuFigure 4. Remote control relays used in activating thermal manikin sub-systemsSlika 4. Releji daljinskog upravljanja za aktiviranje podsustava termalnih manekenaFigure 2. Illustration of inflatable thermal manikin system used in the remote laboratorySlika 2. Prikaz sustava manekena na termalno                   napuhavanje u daljinski upravljanom laboratorijuFigure 5. Temperature monitors showing manikin input air temperature and manikin output                             air temperature values which are needed to compute manikin heat loss valuesSlika 5. Monitori temperature prikazuju vrijednosti temperature ulaznog i izlaznog zraka kod manekena potrebne za izračun vrijednosti gubitka topline manekena39SIGURNOST 57 (1) 35 - 40 (2015)U. Reischl, B. Mijović: Use of robotic controls in ...Figure 6. Schematic of Test protocolSlika 6. Shematski prikaz ispitnog protokolaFigure 7. Illustration of thermal manikin in a semi-nude “Control” configuration (A) and in the                        “Experimental” configuration (B)Slika 7. Prikaz termalnog manekena u polugoloj ‘kontrolnoj’ konfiguraciji (A) i u ’eksperimentalnoj’ konfiguraciji (B)ACCESSING THE LABORATORYAccess to the remote thermal laboratory is cu-rrently open to the global Internet community. Visitors are permitted to operate the equipment “at-will” to observe the technical functions of the key manikin equipment. User tracking has shown that persons from all continents around the world have accessed the facility either as a viewer or as an active “player” operating the various manikin sub-systems. Although the cu-rrent features appear to offer visitors a video-ga-me “entertainment” opportunity, the goal of the open access policy is to promote interest in er-gonomics research. However, when experiments are being conducted locally or “in-house”, the remote controls are disabled. This allows the researchers to eliminate outside interference or interruptions. However, the camera continues to remain “on” during experiments which allows visitors anywhere in the world to view these activities 24/7. The current URL for this remote laboratory website is: http://www.reach-in.com/demos/conduct-an-experiment.COLLABORATIONInternational use of the remote thermal ma-nikin laboratory as a research facility developed after visiting researchers successfully conducted in-house studies using the thermal manikin tech-nology and wanted to continue with their expe-riments after returning home (Reischl, Mijović, Skenderi & Čubrić, 2010, Reischl, Goonetilleke, Mijović, Skenderi, 2011, Reischl and Goone-tilleke, 2011). The collaborations have expan-ded from Boise State University in the USA to the University of Zagreb in Croatia and the Hong Kong University of Science and Technology. Co-llaborations are being explored with universiti-es in Central and South America. Although the advantage of using the remote laboratory incre-ases with distance, differences in the East-West time-zones can make real-time communications regarding experimental problems and set-up requirements difficult. Nevertheless, as acade-mic resources become scarcer, collaborative use of laboratory resources locally, regionally, and internationally will be helpful. Remote laborato-ries will undoubtedly play an important role in promoting collaboration in education and rese-arch in the future.REFERENCESFeisel, L. and Rosa, A.: The Role of the Labo-ratory in Undergraduate Engineering Education. Journal of Engineering Education, 94, 2005, pp 121-130. Reischl, U., Mijović, B., Skenderi, Z. & Čubrić, I.: Heat Transfer Dynamics in Clothing Exposed to Infrared Radiation. Proceedings of the 3rd International Conference on Applied Hu-man Factors and Ergonomics, Miami, Florida, USA, pp. 589-598, 2010.40SIGURNOST 57 (1) 35 - 40 (2015)U. Reischl, B. Mijović: Use of robotic controls in ...Reischl, U., Goonetilleke, R., Mijović, B., Skenderi, Z.: Thermal Characteristics of Infrared Radiation Protective Vests. Sigurnost, 53, 2011, 1, pp 51-56. Reischl, U. and Goonetilleke, R.: Ma-nagement of Outdoor Heat Stress – Re-ducing Exposure to Solar Heat Radiati-on. Proceedings of the 10th International Symposium on Human Factors in Organi-zational Design and Management – X, M. Goebel, Editor, Rhodes University, South Africa, pp. 435-440, April, 2011.Selmer, A., Kraft, M., Moros, R. and Colton, C.: Weblabs in Chemical Engineering Education, Education for Chemical Engineers, 2007, 2, pp 38-45. Tompkins, P.A. and Pingen, G.: Real-Time Experimentation Across the Internet. Physics on the Internet, 40, 2002, 1, pp 408-410. UPORABA ROBOTIKE U LABORATORIJIMA ZA ERGONOMIJU SAŽETAK: Međunarodna suradnja u nastavi i istraživanjima porasla je kao rezultat raširenosti i dostupnosti globalne mreže. Iako je primjena e-obrazovanja iznimno porasla, uporaba daljin-skih laboratorija u istraživanju i nastavi relativno je nova. Opisan je razvoj daljinskog ergono-mijskog laboratorija pomoću internetske tehnologije. Svrha daljinskog laboratorija jest da se diljem svijeta omogući pristup naprednoj tehnologiji manekena na termalno napuhavanje koja nudi temelj za mjerenje termodinamičkih svojstava zaštitne odjeće tijekom izlaganja kontrolira-nim uvjetima okoline. Laboratorij je izazvao opće zanimanje te promiče međunarodnu suradnju na području nastave i istraživanja u ergonomiji.         Ključne riječi: robotičko upravljanje, laboratorij, ergonomija     Pregledni radPrimljeno: 25.4.2014.Prihvaćeno: 5.1.2015.

UPORABA ROBOTIKE U LABORATORIJIMA ZA ERGONOMIJU

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