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Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI最新文献

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Human error prediction in man-machine system using classification scheme of human erroneous actions 基于人的错误行为分类方案的人机系统人的错误预测
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.647002
T. Kohda, Y. Nojiri, K. Inoue
{"title":"Human error prediction in man-machine system using classification scheme of human erroneous actions","authors":"T. Kohda, Y. Nojiri, K. Inoue","doi":"10.1109/ROMAN.1997.647002","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.647002","url":null,"abstract":"While the advanced technology improves the reliability of technological systems, the reliability of human operators still remains limited. From the viewpoint of systems safety and reliability, the possibility of human error occurrence must be reduced. At the design stage of a man-machine system, it is important to predict what kind of interactions will lead to a serious accident. This paper presents a prediction method using the classification scheme of human erroneous actions, which shows the general result obtained in such fields as psychology and cognitive engineering. The human behavior cannot be described in the same way as the technological system behavior. The context dependency is one of the characteristics of human behaviors. The context determines the most probable human, erroneous action and specifies man-machine interactions in the system. A simple illustrative example shows the details and merits of the proposed method.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125123333","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Eight ultimate challenges of human-robot communication 人机交流的八个终极挑战
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.646944
T. Sheridan
{"title":"Eight ultimate challenges of human-robot communication","authors":"T. Sheridan","doi":"10.1109/ROMAN.1997.646944","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.646944","url":null,"abstract":"I contemplate what I believe to be eight of the most challenging long-term problems in human-robot communication. I interpret this phrase in a broad sense, including communication among the designers of robot systems with respect to the high-level design, programming and use of robots for humane purposes. Since the earliest robots of the 1940s human communication with them has been a serious consideration, and progress over the ensuing 50 years has been great. Control of prosthetic arms has changed from crude cables to myoelectric signals and speech. Control of telemanipulators for hazardous environments such as nuclear plants, space and undersea has changes from simple on-off control of individual joints to high-level supervisory languages of various kinds, combining both analog and symbolic communication. The same is true for industrial robots, which can now make movements very much faster and more precisely than can humans. It is not my intent to review that progress, though it is clear that as robots themselves become more intelligent the nature of communication between the human operator and the robot is becoming less and less like that of using a passive hand tool and more and more like the relationship between two human beings.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"104 36","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120827115","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 42
Variable damping characteristics in carrying an object by two humans 两个人携带物体时的可变阻尼特性
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.646969
R. Ikeura, Akishi Morita, K. Mizutani
{"title":"Variable damping characteristics in carrying an object by two humans","authors":"R. Ikeura, Akishi Morita, K. Mizutani","doi":"10.1109/ROMAN.1997.646969","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.646969","url":null,"abstract":"Robots are expected to be human-friendly and to execute tasks cooperating with humans. Control system for the robots should be constructed so as to work adapting with human characteristics. In this paper, human characteristics in a cooperation task by two humans are analyzed and it is shown that the human performance can be expressed by a variable damping control.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128310877","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 23
Lip-configuration control of a mouth robot for Japanese vowels 日语元音嘴型机器人的唇形控制
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.647022
F. Hara, K. Endou, S. Shirata
{"title":"Lip-configuration control of a mouth robot for Japanese vowels","authors":"F. Hara, K. Endou, S. Shirata","doi":"10.1109/ROMAN.1997.647022","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.647022","url":null,"abstract":"When considering an improvement in communication between humans and intelligent machines like computers and robots, it is natural that coordination between facial expression as a nonverbal modality and voice as a verbal one may create more human-like communicative interaction. We have developed a construction of a mouth robot which can generate lip configurations for Japanese vowels \"a\", \"i\", \"u\", \"e\", and \"o\". This paper describes (1) analysis of the mouth shape formed on human face when he/she pronounces Japanese vowels (2) determination of position of human-made muscles needed to form mouth shape, (3) small pneumatic actuator performances, (4) mechanical frame structure for installing man-made mouth skin, and (5) demonstration of mouth shapes formed on the mouth robot for Japanese vowels.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"79 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131150947","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 7
How does environment bias behavior of autonomous robots with evolutional perception 具有进化感知的自主机器人的环境偏差行为是如何产生的
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.646956
T. Shiose, T. Sawaragi, O. Katai
{"title":"How does environment bias behavior of autonomous robots with evolutional perception","authors":"T. Shiose, T. Sawaragi, O. Katai","doi":"10.1109/ROMAN.1997.646956","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.646956","url":null,"abstract":"In this paper, concerning with the emergence of intelligent behaviors of some artificial systems like an autonomous robot, we put an emphasis on the importance of their continuous interactions with an environment, and consider about how an environment affects on their forming behavioral rules that are needed for their survival. For these purposes, we at first develop an evolutional algorithm for an autonomous mobile robot's behavior formation, and discuss about how the ways of interactions bias the robot's learning through a number of experiments. Based on these, we investigate into possible instruction strategies for an variety of environments as well as into appropriate learning strategies of maintaining a diversity for a robot.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130631777","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
A mobile robot localization using ultrasonic sensors in indoor environment 基于超声传感器的室内移动机器人定位研究
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.646952
Zhao Feng-ji, Guo Hai-jiao, K. Abe
{"title":"A mobile robot localization using ultrasonic sensors in indoor environment","authors":"Zhao Feng-ji, Guo Hai-jiao, K. Abe","doi":"10.1109/ROMAN.1997.646952","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.646952","url":null,"abstract":"This paper proposes a new method for estimating the position and orientation of a mobile robot in an indoor environment. The method is different from previous one in the way that the simply shaped objects, such as walls, corners and edges, called geometric elements, selected from the environment rather than artificial ones are used as landmarks. The mobile robot moves from a starting point to its target point along a designed path relying on its own sensors. When the mobile robot moves in an environment, it measures the distance to the geometric elements, uses the role of triangle geometry to estimate the position and the orientation of itself and corrects its path. The presented algorithm is especially suitable for processing the sonar scan data obtained by ultrasonic sensors with wide beam spread. The validity of the proposed method has been proved by experiments, and its performance investigated.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131030837","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 29
Multiple mobile robot interface using a low cost voice recognition chip 多移动机器人接口采用低成本语音识别芯片
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.647020
Seung-hyun Lim, J. Jeon
{"title":"Multiple mobile robot interface using a low cost voice recognition chip","authors":"Seung-hyun Lim, J. Jeon","doi":"10.1109/ROMAN.1997.647020","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.647020","url":null,"abstract":"Voice is one of the convenient methods for communicating between humans and robots. To command a lot of robot tasks by voice, voices of the same number have to be able to be recognized. But the more voices that have to be recognized, the higher the cost of recognition system is and the longer the time of recognition is. In this paper, a low cost voice recognition system which can distinguish a lot of robot tasks is proposed. The proposed system consists of a general purpose microprocessor and a low cost voice recognition processor which can recognize a limited number of voice patterns. Given multiple robots, each robot task is classified and organized such that the number of robot tasks under each directory is not more than the maximum recognition number of the voice recognition processor so that robot tasks under each directory can be distinguished by the voice recognition processor.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124610670","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 8
A design and characteristic analysis of the motion base for vehicle driving simulator 车辆驾驶模拟器运动基座的设计与特性分析
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.646997
Jung-ha Kim, Woon-Sung Lee, I. Park, Kyung-Kyun Park, Jun-Hee Cho
{"title":"A design and characteristic analysis of the motion base for vehicle driving simulator","authors":"Jung-ha Kim, Woon-Sung Lee, I. Park, Kyung-Kyun Park, Jun-Hee Cho","doi":"10.1109/ROMAN.1997.646997","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.646997","url":null,"abstract":"The main procedures of development of the motion system for a vehicle driving simulator are classified in 3 parts: 1) development of the motion base system which can be generated by the motion cues; 2) the construction of a real-time vehicle software which can afford the vehicle dynamics; and 3) the integration of vehicle driving simulator, which can be interconnected between visual systems with motion base. This paper describes the motion system developed for a driving simulator, consisting of a six degree of freedom Stewart platform driven hydraulically. The hardware has been developed based on a careful consideration of the target performance, motion envelope, driving scenarios, etc. The drive logic, consisting of a washout algorithm, inverse kinematic analysis, and control algorithm, has been developed and applied for creating high fidelity motion cues.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"283 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128174214","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 11
Task-oriented path planning for the coordinated motion of two manipulators 面向任务的两个机械手协调运动路径规划
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.646951
Hye-Kyung Cho, J. Kim, Sehoon Yea
{"title":"Task-oriented path planning for the coordinated motion of two manipulators","authors":"Hye-Kyung Cho, J. Kim, Sehoon Yea","doi":"10.1109/ROMAN.1997.646951","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.646951","url":null,"abstract":"This paper deals with the problem of motion resolution between two cooperating manipulators working on the same workpiece. Based on some mathematical analysis of the inherent characteristics of the coordinated motion, we explain how to resolve the redundancy in the path specification stage or in the trajectory generation stage. As an application of the motion resolution in the path specification stage, we describe the details of the sharp-cornered path tracking strategy where a robot and a positioning table move simultaneously so that the desired path cast be followed at a high speed without infeasible torque/force demand. Especially, we provide a condition on the feasible paths of the robot while the table follows a straight lane path. Also, we compare the advantages and disadvantages of several parameterized curves satisfying the condition in respect to the path specification and the trajectory generation. This work would provide a basis for the development of a generalized multiple-robot language which can describe user's preference and task characteristics in the redundant environments.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122615590","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
Structured functional display for improved human-machine communication in complex dynamic systems 复杂动态系统中改进人机通信的结构化功能显示
Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI Pub Date : 1997-09-29 DOI: 10.1109/ROMAN.1997.647037
M. Takahashi, M. Kitamura
{"title":"Structured functional display for improved human-machine communication in complex dynamic systems","authors":"M. Takahashi, M. Kitamura","doi":"10.1109/ROMAN.1997.647037","DOIUrl":"https://doi.org/10.1109/ROMAN.1997.647037","url":null,"abstract":"This paper proposes a new approach to the design of information provision system with more reliance on human capability of situation comprehension and pattern recognition. We presume that human operators of a potentially hazardous artifact are well-trained and motivated enough to manage even the unanticipated events if states of safety-critical components are provided in macroscopic (global) manner with modest rather than detailed accuracy. We also pay more emphasis on provision of information about time-evolution of the events as well as that of component states. We analytically compared the amount and quality of available information with the conventional display modes based on digital and analog signals allocated to relevant locations of plant's simulated display. Through empirical evaluations, we conclude that the proposed scheme is worthwhile to be studied with further expanded scale.","PeriodicalId":174564,"journal":{"name":"Proceedings 6th IEEE International Workshop on Robot and Human Communication. RO-MAN'97 SENDAI","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122371512","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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