基于网络的多机器人遥操作系统中的人机交互研究

针对基于网络的智能机器人遥操作系统中人机交互的主要难点和现有方法的不足,结合基于网络的多机器人遥操作系统的特点,应用多模式控制的方法丰富了操作者与机器人系统的交互途径,提高了操作效率。在此基础上,为解决网络时延给多机器人遥操作系统中的人机交互带来的问题,提出了一种带有时间标记的基于事件的方法,在保证系统稳定运行的同时提高系统的效率和性能。实验表明了所研究的方法的有效性和优越性。     

Mobile Robot Command by Man–Machine Co-Operation – Application to Disabled and Elderly People Assistance

Disabled people assistance is developing thanks to progress of new technologies. A manipulator arm mounted on a mobile robot can assist a disabled person for a partial restoration of the manipulative function. A user pilots the robot via a control station, using enhanced reality techniques. To be affordable such a system must be cost-effective. That constraint limits perception means: ultrasonic ring, dead reckoning, and low-cost camera. The development of the project has followed two stages. The first one consists of giving maximum autonomy capacities to the robot for planning, navigation, and localisation. The second stage is the study of the Man–Machine Co-operation (MMC) for the command of the robot system. Indeed, the aim is to perform a mission (mobile robot displacement), using the robot capacities and man possibilities. Users build their own strategies to carry out a mission successively. The strategy can be seen as a succession of control modes, which can be manual, automatic, or shared. In the latter case, the control of the robot is shared between a human operator and machine. The main problem is then task allocation between both intelligent entities. Each one has planification, navigation, and localisation abilities. The paper presents our approach for planning and navigation and develops a more specific study about robot localisation.     

Cognitive Automation for Tactical Mission Management: Concept and Prototype Evaluation in Flight Simulator Trials

This paper describes an approach to cognitive and cooperative operator assistance in the field of tactical flight mission management. A framework for a generic functional concept is derived from general considerations of human performance and cognitive engineering. A system built according to these human-centred design principles will be able to keep up with the change of situation parameters, in order to provide situational adapted operator assistance. Such a cognitive assistant system represents an approach to ensure the highest degree possible of situation awareness of the flight deck crew as well as a satisfactory workload level. This generic approach to mission management and crew assistance for military aircraft has been realised in different application domains such as military transport and air-to-ground attack. The Crew Assistant Military Aircraft is a functional prototype for the air transport application. Even applications in the domain of uninhabited aerial vehicles (UAV) are in reach. This paper mainly covers one state-of-the-art research and development activity in the domain of combat aircraft: the TMM – Tactical Mission Management System is an experimental solution for the air-to-ground attack role. The TMM has been implemented as a functional prototype in the mission avionics experimental cockpit (MAXC), a development flight simulator at ESG and evaluated with German Air Force pilots as subjects in simulator trials. Therefore, the TMM has been compared with a reference cockpit avionics configuration in terms of task performance, workload, situation awareness and operator acceptance. After giving an overview of the system concepts this paper reports on the experimental design and results of the simulator trial campaign.     

Extra-Ordinary Human–Machine Interaction: What can be Learned from People with Disabilities?

When specifying, designing and implementing technology for work, it is very important to consider the whole of the potential user group, and not to forget that this might include people with disabilities. Obvious reasons for this are demography, disabled people forming a significant and growing proportion of the workforce, and legal obligations caused by equal opportunities legislation. There are more subtle reasons, however, which link so-called ‘disabled people’ with the rest of the population. The paper notes that most people have some disabilities, sometimes temporarily due to accident, or permanently due to ageing and other processes. In addition it notes that even otherwise fully functioning people can be seriously handicapped by hostile environments, and a parallel is drawn between the human interface needs of disabled people operating in ordinary situations and able-bodied people operating in high workload and stress situations. The paper concludes by suggesting a research agenda for the field on the basis of these considerations.     

Intelligent Human-Machine Interaction Based on Dynamic Bayesian Networks Probabilistic Intention Recognition

In this article, a novel human–machine interaction based on the machine intention recognition of the human is presented. This work is motivated by the desire that intelligent machines as robots imitate human–human interaction, that is to minimize the need for classical direct human–machine interface and communication. A philosophical and technical background for intention recognition is discussed. Here, the intention–action–state scenario is modified and modeled by Dynamic Bayesian Networks to facilitate for probabilistic intention inference. The recognized intention, then, drives the interactive behavior of the machine such that it complies with the human intention in light of the real state of the world. An illustrative example of a human commanding a mobile robot remotely is given and discussed in details.     

Analysis and Classification of Human Driving Behaviour in an Urban Environment*

Intelligent vehicle systems have introduced the need for designers to consider user preferences so as to make several kinds of driving features as driver friendly as possible. This requirement raises the problem of how to suitably analyse human performance so they can be implemented in automatic driving tasks. The framework of the present work is an adaptive cruise control with stop and go features for use in an urban setting. In such a context, one of the main requirements is to be able to tune the control strategy to the driver’s style. In order to do this, a number of different drivers were studied through the statistical analysis of their behaviour while driving. The aim of this analysis is to decide whether it is possible to determine a driver’s behaviour, what signals are suitable for this task and which parameters can be used to describe a driver’s style. An assignment procedure is then introduced in order to classify a driver’s behaviour within the stop and go task being considered. Finally, the findings were analysed subjectively and compared with a statistically objective one.     

Human Factors in the Design of Supervisory Control Systems and Human–Machine Interfaces for Highly Automated Complex Systems

The design of control systems and human–machine interfaces in the field of complex and safety-critical environments remains today an open issue, in spite of the high technological evolution of the last decades. The increasing use of automation has improved efficiency, safety and ease of operations but, at the same time, it has complicated operators’ situation awareness and has changed the nature of their possible errors. The research activity described in this paper is an attempt to develop a methodological framework to support designers of control systems and human–machine interfaces. In particular, it focuses on the need for a deeply recursive approach related to the implementation of the systemic and human aspects of the design process of a human–machine system, intended as a Joint Cognitive System. A validating case study has been performed, based on the full application of the framework on the control of the turbine/alternator system of a thermoelectric power plant in northern Italy. Correspondence and offprint requests to: M. Piccini, Politecnico di Torino Dipartimento di Energetica, C.so Duca degli Abruzzi 24, 10129 Turin, Italy. Tel.: +39 011 564 4413; Fax: +39 011 564 4499; Email: mipiccin@polito.it     

Interaction with In-Vehicle Electronic Systems: A Complete Description of a Neural Network Approach

Interaction with in-vehicle systems (car phones, traffic information, route guidance, etc) becomes a very difficult task since the control devices are often reduced to small switches and push-buttons. To solve the problem, a new input interface is proposed, based on character recognition. The paper describes in detail how a simple neural network can be applied down to the level of an industrial realization to provide a reliable user-machine interface. The industrial application is that of character recognition where characters are drawn with the finger on a small touchpad. Compared with the nearest neighbour method, the neural network solution has slightly better recognition rate, is faster and requires less memory space. The design of the recognition system is given and results of an experiment made on a driving simulator are presented.     

支持隐式人机交互的分布式视觉系统

交互技术的发展推动着交互方式的转变并催生新的交互理论和交互范式。隐式人机交互是一种新型人机交互范式,其特点是用户无需直接操作计算机等设备,交互系统通过分布式传感器检测,分析用户动作,在线地获取当前的动态上下文,用于理解用户的意图,作为系统的隐含输入,产生与用户意图相适应的隐含输出来为用户服务。本文分析了隐式交互对计算系统的需求,提出了通用化的面向应用的服务共享模型,以用于构建分布式视觉系统。基于该系统实现的隐式交互实例表明,上述模型是通用的服务共享模型,能够实现多种隐式交互系统。     

Understanding Perceived Complexity in Human Supervisory Control

Industrial processes are becoming more complex owing to technological developments and new opportunities. Technological developments, hardware and software, have become more reliable and system configurations more robust. However, the reliability of operator control actions has not improved at the same pace. Consequently human reliability has become the relatively weakest aspect of automated, operator-supervised systems. Hence, understanding how the human operator experiences increasing complexity may play an important role in task allocation and human–machine system design. In this paper the perceived complexity is studied within four typical operational environments in supervisory control. Mathematical formulations for these four operational environments are proposed, and their properties are analysed. A laboratory system is used to investigate the perceived complexity under various operational environments. The experimental results show a significantly different perceived complexity for the coupled and uncoupled operation environments. Extrapolation of the results revealed that the operator would have perceived the system as extremely complex if he/she would have to operate more than eight strongly interconnected subsystems extensively in 30 minutes. Implications of this study are also addressed.     

面向服务的Agent交互体系设计

基于Agent内部抽象与外部抽象,提出面向服务的社会Agent体系模型及Agent交互体系。通过功能层与知识层的分离,实现描述-控制机制,针对Agent服务交互,划分服务发现、服务协商、服务协调、服务执行与服务组织等基本交互阶段,采用黑板结构集成处理这些阶段的交互模块。分析结果表明,该模型以及交互体系能最大程度地利用服务语义,可用于Agent应用的系统化、工程化开发。     

A Quasi-Experimental Model of Complex Human–Machine System Validation

Complex systems, such as power plants and commercial aircraft, are designed to operate safely under normal and disturbance conditions. Integrated-system validation is one means to evaluate whether safety and productivity goals can be achieved prior to actual operation. While some types of systems can be tested in an actual operational environment, validation is especially difficult when safety or economic considerations preclude testing in the disturbance conditions they are designed to handle. This paper proposes a conceptual model for integrated-system validation based on an integration of current approaches to design validation and concepts adopted from quasi-experimental research methodology. The model identifies important validation principles and the methodological considerations needed to support a logical and defensible inference to be made from validation tests to system performance under actual operating conditions. Central to the model are four general forms of validity: system representation, performance representation, test design and statistical conclusion validity. Threats to the inference process and weakness of the model are also discussed.     

Open a Window to the Cognitive Work Process! Pointillist Analysis of Man–Machine Interaction

Technological progress keeps on changing our lives and our work. We can only improve this mutual influence between human and technology if we understand the impact of technology on the work process, and if we are also able to share this understanding with other people in the design process. Quantitative assessment methods like workload offer at least a keyhole to the work process, but only additional concepts like situation awareness or usability in an appropriate combination with qualitative aspects can open this keyhole into a wider window. The pointillist approach uses a powerful metaphor, borrowed from the arts, to combine quantitative with qualitative aspects systematically. Based on this approach, a tool for human factors analysis was built and used to analyse the interaction between a pilot and an assistant system in a simulator. Three examples illustrate the possible interplay between quantitative and qualitative aspects of the approach.     

An Approach to Security Requirements Engineering for a High Assurance System*

Requirements specifications for high-assurance secure systems are rare in the open literature. This paper examines the development of a requirements document for a multilevel secure system that must meet stringent assurance and evaluation requirements. The system is designed to be secure, yet combines popular commercial components with specialised high-assurance ones. Functional and non-functional requirements pertinent to security are discussed. A multidimensional threat model is presented. The threat model accounts for the developmental and operational phases of system evolution and for each phase accounts for both physical and non-physical threats. We describe our team-based method for developing a requirements document and relate that process to techniques in requirements engineering. The system requirements document presented provides a calibration point for future security requirements engineering techniques intended to meet both functional and assurance goals. RID="*" ID="*"The views expressed in this paper are those of the authors and should not be construed to reflect those of their employers or the Department of Defense. This work was supported in part by the MSHN project of the DARPA/ITO Quorum programme and by the MYSEA project of the DARPA/ATO CHATS programme. Correspondence and offprint requests to: T. Levin, Department of Computer Science, Naval Postgraduate School, Monterey, CA 93943-5118, USA. Tel.: +1 831 656 2339; Fax: +1 831 656 2814; Email: levin@nps.navy.mil     

InfoPoint: A Device that Provides a Uniform User Interface to Allow Appliances to Work Together over a Network

This paper proposes a new hand-held device called “InfoPoint” that allows appliances to work together over a network. We have applied the idea of “drag-and-drop” operation as provided in the GUIs of PC and workstation desktop environment. InfoPoint provides a unified interface that gives different types of appliances “drag-and-drop”-like behaviour for the transfer of data. Moreover, it can transfer data from/to non-appliances such as pieces of paper. As a result, InfoPoint allows appliances to work together, in the real-world environment, in terms of data transfer. A prototype of InfoPoint has been implemented and several experimental applications have been investigated. InfoPoint has shown its applicability in a variety of circumstances. We believe that the idea proposed in this paper will be a significant technology in the network of the future.     

第三方软件与监控系统远程数据交互的应用

监控系统已经广泛运用在高效稳定的工业化生产过程中.通过对当前使用的监控系统的调研,发现相当一部分非网络版监控系统的使用人群仅仅会一些基本操作,却无法对系统进行维护.为了能够让系统工程师在远程进行系统维护,设计了一款通用的C/S构架软件,实现了多客户端与监控系统的远程实时数据交互.工程师足不出户就能完成监控系统的参数分析、实时调整、优化等工作,在实际应用中节约了大量的时间和资金.     

Designing emergent cooperation: a pursuit–evasion game case study

This research concerns a comparison of two neuroevolution approaches for the design of cooperative behavior in a group of simulated mobile robots. The first approach, termed single pool (SP), was characterized by robot neural controllers that were derived from a single genotype. The second approach, termed multiple pools (MP), was characterized by robot neural controllers that were derived from many different genotypes. The application domain implemented a pursuit–evasion game in which teams of robots of various sizes, termed predators, collectively worked to capture (immobilize) other robots, termed prey. The MP and SP approaches were tested, with and without lifetime learning, for the design of cooperative prey capture behavior within teams of predators. Results indicated that the MP approach was superior to the SP approach in terms of measures defined for prey-capture performance. Specifically, the MP approach facilitated behavioral specializations in the predator team facilitating emergent cooperative prey capture strategies that proved effective for the various team sizes tested.     

SenToy in FantasyA: Designing an Affective Sympathetic Interface to a Computer Game

We describe the design process of an affective control toy, named SenToy, used to control a synthetic character in a computer game. SenToy allows players to influence the emotions of a synthetic character placed in FantasyA, a 3D virtual game. By expressing gestures associated with anger, fear, surprise, sadness and joy through SenToy, players influence the emotions of the character they control in the game. When designing SenToy we hypothesized that players would manipulate the toy to express emotions using a particular set of gestures. Those gestures were drawn from literature on how we express emotions through bodily movements and from emotion theories. To evaluate our idea we performed a Wizard Of Oz study [1]. The results of the study show that there are behaviours that players easily pick up for expressing emotions through the gestures with the toy, though not necessarily the ones extracted from literature. The study also provided some indication on what type of toy we should build, in particular, its ‘look and feel’. Correspondence to: Ms A. Paiva, IST & Instituto de Engenharia de Sistemas e Computadores, Rua Alves Redol 9, 1000 Lisboa, Portugal. Email: Ana.Paiva@inesc.pt     

Cognitive Theories and Engineering Approaches for Safety Assessment and Design of automated systems: A Case Study of a Power Plant

This paper concerns methods and techniques for analysis and assessment of human factors in automated plant. A well-known theory is reviewed and an engineering approach is devised for retrospective accident evaluations and prospective studies. The lessons learnt from a serious accident for the safety assessment of a real plant are discussed in detail. The relevance of the human contribution to the accident and the likely improvements identified by the application of the method confirm the importance and advantages of performing accurate human factors analyses for design and safety of technological systems.