MiniHMI-1000人机界面

<正>MiniHMI-1000是广州致远电子有限公司精心打造的一款先进组态式人机界面系统。该人机界面通过组态软件进行项目开发,功能齐全、稳定可靠。同时此款人机界面允许运行用户输入的脚本程序,使人机界面工程设计     

Kinematics and control of a fully parallel force-reflecting hand controller for manipulator teleoperation

Force feedback can enhance the efficiency of a teleoperation system by providing the operator with a sense of feel of the forces and torques arising from the interaction of the slave manipulator with the remote environment. This article addresses the kinematic analysis and control of a Parallel FOrce-Reflecting Hand Controller (PFORHC) whose design and implementation are based on a fully parallel mechanism. Kinematic analysis on the PFORHC is performed and results in a closed-form solution for the inverse kinematics. The forward kinematics is solved by Newton-Raphson's method. A fixed-gain PD control scheme is developed for force feedback control. Experiments are conducted to study the performance of the force-reflecting capability of the PFORHC. Experimental results show that the force control scheme utilizing a handgrip force sensor provides smaller steady-state errors as compared to the case utilizing no handgrip force sensor.     

Bilateral teleoperation of a group of mobile robots for cooperative tasks

A visual and force feedback-based teleoperation scheme is proposed for cooperative tasks. The bilateral teleoperation system includes a haptic device, an overhead camera and a group of wheeled robots. The commands of formation and average velocities of the multiple robots are generated by the operator through the haptic device. The state of the multiple robots and the working environment is sent to the human operator. The received information contains the feedback force through the haptic device and visual information returned by a depth camera. The feedback force based on the difference between the desired and actual average velocities is presented. The wave variable method is employed in the bilateral teleoperation of multiple mobile robots with time delays. The effectiveness of the bilateral teleoperation system is demonstrated by experiments. The robots in the slave side are able to follow the commands from the master side to interact with the environments, including moving in different formations and pushing a box. The results show that the scheme enables the operator to manipulate a group of robots to complete cooperative tasks freely.     

COMUNICAR: designing a multimedia, context-aware human-machine interface for cars

The European Union co-funded COMUNICAR (communication multimedia unit inside car) project designed and developed an integrated multimedia human–machine interface (HMI) able to manage a wide variety of driver information systems (from entertainment to safety). COMUNICAR proposed an innovative information provision paradigm, in which the on-vehicle HMI is able to tailor the delivery of the information in real time according to the actual driving context and the drivers workload. COMUNICAR adopted a user-centred design process involving an iterative development based on extensive user tests since the early phases of the project. This approach was particularly useful to define and improve the layout of the user interface and specify the rules that decide the scheduling and the modalities of the delivery of the information messages to the driver. This paper introduces the COMUNICAR concept and the user-centred flow of design. Then, a concrete case of user-test driven, iterative improvement of a systems functionality is presented. We also briefly describe two software tools that we have designed to enhance the development process in a user-centred perspective. Finally, the future evolution of the concept of smart and safe information scheduling is sketched and discussed.

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异构遥操作仿人机械臂灵巧作业控制

针对异构遥操作系统在作业过程中,从端机器人控制灵活性受限的问题,提出了一种基于主从工作空间与速度的双模比例映射控制方法.限定主从端的操作空间,并采用比例度映射的方式实现主端对从端运动控制.采用Phantom Omni力反馈设备与Kinova仿人机械臂分别作为遥操作系统的操作主端和工作从端,构建了双边控制系统及实物抓取实验,结果表明:在映射的工作空间内,主端能够有效完成对从端的运动控制;在实物抓取实验过程中,主端能够有效对从端实现作业控制.所设计的系统满足控制精度需求,操作灵活.     

Failure tolerant teleoperation of a kinematically redundant manipulator: an experimental study

Teleoperated robots in harsh environments have a significant likelihood of failures. It has been shown in previous work that a common type of failure such as that of a joint "locking up," when unidentified by the robot controller, can cause considerable performance degradation in the local behavior of the manipulator even for simple point-to-point motion tasks. The effects of a failure become more critical for a system with a human in the loop, where unpredictable behavior of the robotic arm can completely disorient the operator. In this experimental study involving teleoperation of a graphically simulated kinematically redundant manipulator, two control schemes, the pseudoinverse and a proposed failure-tolerant inverse, were randomly presented under both nonfailure and failure scenarios to a group of operators. Based on performance measures derived from the recorded trajectory data and operator ratings of task difficulty, it is seen that the failure-tolerant inverse kinematic control scheme improved the performance of the human/robot system.     

三连杆移动机械臂模型与运动规划

采用拉格朗日动力学方法和非完整动力学罗兹方程建立了三连杆移动机器臂运动学和动力学模型,并且利用该模型采用了人工势函数方法来驱动移动机械臂系统绕过障碍物到达目标位置.仿真的结果证明了该模型的正确性及其规划方法是有效的.     

Evaluation of different interface designs for human-machine interaction in vehicles

Multimedia Tools and Applications - In this paper we report on a user study in which we compared three different interaction designs in an in-vehicle infotainment system. Touchpad, free-hand and...     

Human-centered control scheme for delayed bilateral teleoperation of mobile robots

Teleoperation task performance strongly depends on how well the human operator’s commands are executed. In this paper, we propose a control scheme for delayed bilateral teleoperation of mobile robots that considers user’s commands execution in order to achieve a high-performance teleoperation system in some important aspects like time to complete the task, safety, and operator dependence. We describe some evaluation metrics that allow us to address these aspects and a quantitative metric is proposed and incorporated in the control scheme to compensate wrong commands. A force feedback is applied to the master at the local site as a haptic cue. In addition, the system stability is analyzed taking into consideration the master and remote robot dynamic models and the asymmetric time-varying delays of the communication channel. Multiple human-in-the-loop simulations were carried out and the results of the evaluation metrics were discussed. Additionally, we present experiments where a user teleoperates a mobile robot via the Internet connection between Argentina and Italy.     

A user study of command strategies for mobile robot teleoperation

This article presents a user study of mobile robot teleoperation. Performance of speed, position and combined command strategies in combination with text, visual and haptic feedback information were evaluated by experiments. Two experimental tasks were designed as follows: positioning of mobile robot and navigation in complex environment. Time for task completion and motion accuracy were measured and compared for different command strategies and types of feedback. Role of haptic, text and visual feedback information in combination with described command strategies is outlined.     

移动机械手的T-S模糊控制系统

对移动机械手进行动力学分析,给出了统一的移动机械手整体动力学建模方法;针对移动机械手的非线性特点,提出T-S模糊控制算法,将复杂的非线性强耦合系统转化为若干线性问题的组合;利用线性矩阵不等式方法为该系统设计了状态反馈控制器,并给出了整体系统的稳定性证明。仿真实验证明该控制器具有良好的控制效果和稳定性。     

An autonomous mobile manipulator for assembly tasks

The fundamental difference between autonomous robotic assembly and traditional hard automation, currently utilized in large-scale manufacturing production, lies in the specific approaches used in locating, acquiring, manipulating, aligning, and assembling parts. An autonomous robotic assembly manipulator offers high flexibility and high capability to deal with the inherent system uncertainties, unknowns, and exceptions. This paper presents an autonomous mobile manipulator that effectively overcomes inherent system uncertainties and exceptions by utilizing control strategies that employ coordinated control, combine visual and force servoing, and incorporate sophisticated reactive task control. The mobile manipulation system has been demonstrated experimentally to achieve high reliability for a “peg-in-hole” type of insertion assembly task that is commonly encountered in automotive wiring harness assembly.     

Time Follower's Vision: a teleoperation interface with past images

Time-Followers's Vision is a mixed-reality-based visual presentation system that captures a robotic vehicle's size, position, and environment, allowing even inexperienced operators to easily control it. The technique produces a virtual image using mixed reality technology and presents the vehicle's surrounding environment and status to the operator. Therefore, even for inexperienced operators, the vehicle's position and orientation and the surrounding situation can be readily understood. The authors implement a prototype system and evaluate its feasibility. This article is available with a short video documentary on CD-ROM.     

遥操作系统力觉接口的无源性设计

力觉接口是指人和遥操作机械手之间的接口,用来给操作人员提供操作时的一种虚拟环境．无源性是这种接口系统设计的主要要求,但是前人得出的无源性条件过于保守．本文从采样控制系统的频率特性出发推导了一个没有保守性的接口系统无源性的条件．文中并指出无源性只是接口的一个属性,要正确设计还需考虑到伺服设计的一些基本要求,诸如系统的带宽、阻尼等．文中还结合例子给出了接口系统无源性设计的步骤．     

基于优化目的的人机界面知识化表示方法

对一种新的人机界面操作和交互行为的知识化表示方法进行了介绍和分析。以语义网络为基础,通过对人在界面操作中的知识作业过程及交互行为进行分析研究,建立了一种带距离标识的基于面向对象的语义网络的界面知识化表示方法,提供了人机界面特征集定义、推理规则和交互描述模型。该表示方法从界面语义模型和心理语义模型的角度描述了交互,能够正确地描述人机界面的语义知识特征。并以手机短信界面为例说明了该方法的有效性和必要性。     

Operator visual attention allocation prediction in a robotic arm teleoperation interface

In digital interactive interfaces with high visual workloads, it is important for operators to allocate their limited attentional resources appropriately to ensure efficient information collection. The salience, effort, expectancy, value (SEEV) model, which combines top-down and bottom-up attention mechanisms for predicting attention allocation, has been validated in research areas such as piloting, driving, and surgical operations. However, the validity of the SEEV model in the field of robotic arm teleoperation has not yet been thoroughly studied. The primary purpose of this study was to confirm the feasibility of the SEEV model for operator visual attention allocation prediction in a robotic arm teleoperation scenario. The improved ITTI algorithm, distance-measuring tool, Delphi method, and lowest ordinal algorithm were adopted to qualify the four factors of the SEEV model, which also contributed to salience and expectancy quantification methods. Accordingly, an attention allocation prediction model in a robotic arm teleoperation scene was constructed. To verify the validity of the prediction model, 20 participants were recruited to control the robotic arm using V-REP simulation software, and their fixation durations were recorded using an eye tracker as an attention allocation indicator. Participants controlled the robotic arm according to the experimental requirements and operational tasks, such as grasping and placing the target. The results demonstrated that the theoretical data based on the SEEV prediction model are significantly related to the proportion of fixation durations. The experiment verifies the suitability of the SEEV prediction model, and it is anticipated to be utilized in the optimization of interactive interfaces for robotic arm teleoperation.     

Stability analysis of a mobile manipulator under force control

Coordination of multiple mobile agents in general requires interactions between an agent and its external, e.g. another agent or its environment. It is therefore essential for each agent to maintain its stability while interacting with the external. In this study we analyze the stability of a mobile manipulator under force control. A lumped linear mass model is employed due to its simplicity and expressivity. First, a mobile platform and a manipulator with an environment are modeled separately. Both are then combined to yield a mobile manipulator model whose behavior is examined under various force control laws.     

移动双臂机械手系统协调操作的视觉伺服技术

本文利用双目泛倾斜变焦摄像机(pan-tilt-zoom,PTZ)像机,实现移动双臂机械手系统的视觉伺服协调操作,重点研究室内复杂环境和光照变化情况下目标物体的检测、识别和定位问题.首先,提出了色调、饱和度、亮度颜色模型(hue-saturation-value,HSV)空间下图像分割的改进算法,通过阈值更新和外接矩形改善分割结果,提高检测算法对环境光照变化的适应性;然后,基于Hu不变矩,利用物体形状特征,对检测得到的物体加以识别:在此基础上,利用摄像机投影矩阵,计算目标物体的空间坐标,实现其定位测量:最后,在实验室平台上,通过模拟双臂倒水操作,验证提出的图像处理和分析算法以及视觉伺服协调操作方案的有效性.实验结果表明移动双臂机械手系统能够成功完成倒水动作的协调操作.     

Planning of collision-free paths for a reconfigurable dual manipulator equipped mobile robot

In this paper, we study the problem of finding a collision-free path for a mobile robot which possesses manipulators. The task of the robot is to carry a polygonal object from a starting point to a destination point in a possibly culttered environment. In most of the existing research on robot path planning, a mobile robot is approximated by a fixed shape, i.e., a circle or a polygon. In our task planner, the robot is allowed to change configurations for avoiding collision. This path planner operates using two algorithms: the collision-free feasible configuration finding algorithm and the collision-free path finding algorithm. The collision-free feasible configuration finding algorithm finds all collision-free feasible configurations for the robot when the position of the carried object is given. The collision-free path finding algorithm generates some candidate paths first and then uses a graph search method to find a collision-free path from all the collision-free feasible configurations along the candidate paths. The proposed algorithms can deal with a cluttered environment and is guaranteed to find a solution if one exists.     

Discovering vulnerabilities in control system human-machine interface software

As educators plan for curriculum enhancement and modifications to address the net-generation of software engineers, it will be important to communicate the necessity of considering software security engineering as applications are net-enabled. This paper presents a case study where commonly accepted software security engineering principles that have been published and employed for approximately 30 years, are not often seen in an important class of application software today. That class of software is commonly referred to as control system software or supervisory control and data acquisition (SCADA) software which is being used today within critical infrastructures and being net-enabled as it is modernized. This circumstance is driven by evolution and not intention. This paper details several vulnerabilities existing in a specific software application as a case study. These vulnerabilities are a result of not following widely-accepted secure software engineering practices which should have been considered by the software engineers developing the product studied. The applicability of these lessons to the classroom are also established with examples of how they are integrated into software engineering and computer science curricula.