Principles of adjustable autonomy: a framework for resilient human–machine cooperation

Unmanned ground vehicles tend to be more and more autonomous, but both complete teleoperation and full autonomy are not efficient enough to deal with all possible situations. To be efficient, the human–robot system must be able to anticipate, react and recover from errors of different kinds, i.e., to be resilient. From this observation, this paper proposes a survey on the resilience of a human–machine system and the means to control the resilience. The resilience of a system can be defined as the ability to maintain or recover a stable state when subject to disturbance. Adjustable autonomy and human–machine cooperation are considered as means of resilience for the system. This paper then proposes three indicators to assess different meanings of resilience of the system: foresight and avoidance of events, reaction to events and recovery from occurrence of events. The third of these metrics takes into consideration the concept of affordances that allows a common representation for the opportunities of action between the automated system and its environment.     

Effects of speed,motion type,and stimulus size on dynamic visual search: A study of radar human–machine interface

Human visual perception behavior in dynamic environments could be affected by the motion properties of stimuli. The purpose of this study was to investigate the effects of motion type, size, and speed of stimulus on visual search performance and visual comfort in both single- and double-target tasks. Twenty participants attended an experiment in which they finished two tasks at three speeds (low, medium, and high), in two motion types (flicker, uniform), with varied levels of stimulus size (small, medium, and large) on a display. The search time, accuracy, critical flicker frequency, visual comfort, and cognitive load were recorded to provide a comprehensive understanding of participants' visual preferences during the experiment.The results indicated the increasing speed would weaken participants performance on visual search tasks; Medium-sized stimuli were recommended considering search efficiency and cost-effectiveness; More importantly, the present study also found that flicker motion led to better task performance in the low-speed task, due to increased alertness and lead physiological arousal effects, which may imply the past studies have overstated the negative effects of flickering in dynamic environments.     

Applicability of location compatibility to the arrangement of display and control in human – vehicle systems: Comparison between young and older adults

The effects of age on applicability of the location compatibility principle to the design of display and control systems were discussed. A dual-task experiment was conducted, in which the primary task was first-order tracking. The secondary tasks included control of an air conditioner, the operation of a radio and the operation of a CD/MD, by means of either a steering wheel-mounted switch or a console-mounted switch. The display was arranged either in front of or on the left side of a participant. Performance of the young group did not completely follow predictions of the compatibility principle. In particular, the principle did not apply to the left-side display condition. The steering wheel-mounted switch was more effective than the left-side switch even for the left-side display. The compatibility principle was applicable to both front and left-side displays for the older adults. For the front display, the steering wheel-mounted switch was more effective. Such differences should be taken into account when designing display and control systems in man – vehicle systems.     

Examining the effects of field dependence–independence on learners' problem-solving performance and interaction with a computer modeling tool: Implications for the design of joint cognitive systems

An investigation was carried out to examine the effects of cognitive style on learners' performance and interaction during complex problem solving with a computer modeling tool. One hundred and nineteen undergraduates volunteered to participate in the study. Participants were first administered a test, and based on their test scores they were classified into three groups, namely field-dependent, field-mixed, and field-independent learners. Participants then received the same set of integrated-format materials and were asked to use a computer modeling tool to solve a complex problem about immigration policy. A multivariate analysis of variance was performed with field type as the independent variable, and cognitive load, problem-solving performance, and learner interaction with the computer tool as the dependent variables. The results indicated that there was no significant difference in terms of the amount of cognitive load reported. However, there was a significant difference in terms of learner problem-solving performance. Specifically, field-independent learners outperformed field-dependent learners, and field-mixed learners outperformed field-dependent learners. The results also indicated significant differences in computer interaction between field-independent and field-dependent learners, and between field-mixed and field-dependent learners. The qualitative findings of the study showed that students who interacted poorly with the software were unsure about how to systematically use the affordances of the computer tool to solve the problem, did not have a goal-directed plan or strategy in mind about how to investigate the issue at hand, and had difficulty with testing the immigration policies by appropriately controlling variables in order to collect data to inform decision making. Implications are discussed in terms of designing computer systems that scaffold learners' complex problem solving by considering the cognitive demands of the task.     

Accuracy,robustness and behavior of the STICS soil–crop model for plant,water and nitrogen outputs: Evaluation over a wide range of agro-environmental conditions in France

Soil–crop models are increasingly used as predictive tools to assess yield and environmental impacts of agriculture in a growing diversity of contexts. They are however seldom evaluated at a given time over a wide domain of use. We tested here the performances of the STICS model (v8.2.2) with its standard set of parameters over a dataset covering 15 crops and a wide range of agropedoclimatic conditions in France. Model results showed a good overall accuracy, with little bias. Relative RMSE was larger for soil nitrate (49%) than for plant biomass (35%) and nitrogen (33%) and smallest for soil water (10%). Trends induced by contrasted environmental conditions and management practices were well reproduced. Finally, limited dependency of model errors on crops or environments indicated a satisfactory robustness. Such performances make STICS a valuable tool for studying the effects of changes in agro-ecosystems over the domain explored.     

Infiltrating the zebrafish swarm: design,implementation and experimental tests of a miniature robotic fish lure for fish–robot interaction studies

Robotic fish are nowadays developed for various types of research, such as bio-inspiredrobotics, biomimetics and animal behavior studies. In the context of our research on the social interactions of the zebrafish Danio Rerio, we developed a miniature robotic fish lure for direct underwater interaction with the living fish. This remotely controlled and waterproof device has a total length of 7.5 cm with the same size ratio as zebrafish and is able to beat its tail with different frequencies and amplitudes, while following the group of living animals using a mobile robot moving outside water that is coupled with the robotic lure using magnets. The robotic lure is also equipped with a rechargeable battery and can be used autonomously underwater for experiments of up to 1 h. We performed experiments with the robot moving inside an aquarium with living fish to analyze its impact on the zebrafish behavior. We found that the beating rate of the tail increased the attractiveness of the lure among the zebrafish shoal. We also demonstrated that the lure could influence a collective decision of the zebrafish shoal, the swimming direction, when moving with a constant linear speed inside a circular corridor. This new robotic fish design and the experimental results are promising for the field of fish–robot interaction.