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1 – 10 of 81Due to rapid increases in theoretical progress, the paper investigated user perceptions toward tele-presence systems with possible and antecedent motivations that affect attitude…
Abstract
Purpose
Due to rapid increases in theoretical progress, the paper investigated user perceptions toward tele-presence systems with possible and antecedent motivations that affect attitude and intention to use. The paper aims to discuss these issues.
Design/methodology/approach
The paper conducted an internet survey. Responses from 1,620 participants were collected and investigated to identify motivations and possible factors.
Findings
The results demonstrate that attitude has the most powerful effect on intention to use. In addition, social presence and perceived usefulness have significant effects on the intention to use. The results also demonstrate the crucial roles of perceived adaptivity and system quality on attitude. The factors examined in the study may be core features of user acceptance toward tele-presence systems with significant implications for improving and creating better and friendlier tele-presence systems for users.
Originality/value
This paper is of value to researchers designing and improving tele-operation and tele-presence services in the society.
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Hui Shao and Kenzo Nonami
According to UN estimates more than 2,000 people are killed or maimed every month by land‐mines. Although some mechanical solutions to their removal have been proposed, this is…
Abstract
Purpose
According to UN estimates more than 2,000 people are killed or maimed every month by land‐mines. Although some mechanical solutions to their removal have been proposed, this is still heavily dependent on human manipulation. This study seeks to posit a robotic solution to this extremely hazardous operation.
Design/methodology/approach
Examines an active tele‐operated master‐slave robot hand system in which the master and slave hands have completely different structures.
Findings
A secure grasping strategy with a neuro‐fuzzy position control is optional, involving robust position control and accurate force control.
Originality/value
To the best of the authors' knowledge, the configuration and control system of the tele‐operation master‐slave robotic hand is novel in the applied robotics research field.
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Presents an embedded MAS (Multi‐Agent System) based control method for multi link series manipulators.
Abstract
Purpose
Presents an embedded MAS (Multi‐Agent System) based control method for multi link series manipulators.
Design/methodology/approach
The manipulator's completing operation work is based on several agents' cooperation. The entire embedded MAS of a manipulator is implemented in one ARM7 microprocessor. The multi agents and the communications between the agents are constructed depending on the real‐time multitasking capability and the system services of real time operation system, μC/OS‐(tm). An improved distributed inverse kinematics algorithm, which is the foundation the agents' behavior strategies, and the system architecture designing are described in detail.
Findings
This method is very suitable for tele‐operation redundant manipulators' embedded control systems designing, with high reliability.
Research limitations/implications
Using this paradigm, the embedded system firmware development for a redundant manipulator would be very easy and the code would be reusable. A few amendments should be made for miscellaneous manipulators.
Practical implications
It is suitable for controlling a high reliability expected tele‐operation manipulator system.
Originality/value
The embedded MAS based manipulator control paradigm has several attractive advantages, led from MAS theory. Basing this method, we do not require computing the traditional inverse (or pseudoinverse) Jacobian matrix to control a redundant manipulator, especially for mobile redundant robot based on a compact embedded control system, expecting high reliability and potential complexity for coping with dynamical environments. The development procedure would be very easy and the code would be reusable. A few amendments should be made for different manipulators.
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The purpose of this paper is to investigate the effect on time to complete a task depending on how a human operator interacts with a mobile‐robot. Interaction is investigated…
Abstract
Purpose
The purpose of this paper is to investigate the effect on time to complete a task depending on how a human operator interacts with a mobile‐robot. Interaction is investigated using two tele‐operated mobile‐robot systems, three different ways of interacting with robots and several different environments. The speed of a tele‐operator in completing progressively more complicated driving tasks is investigated also.
Design/methodology/approach
Tele‐operators are timed completing a series of tasks using a joystick to control a mobile‐robot. They either watch the robot while operating it, or sit at a computer and view scenes remotely on a screen. Cameras are either mounted on the robot, or so that they view both the environment and robot. Tele‐operators complete tests both with and without sensors. One robot system uses an umbilical cable and one uses a radio link.
Findings
In simple environments, a tele‐operator may perform better without a sensor system to assist them but in more complicated environments then a tele‐operator may perform better with a sensor system to assist. Tele‐operators may also tend to perform better with a radio link than with an umbilical connection. Tele‐operators sometimes perform better with a camera mounted on the robot compared with pre‐mounted cameras observing the environment (but that depends on tasks being performed).
Research limitations/implications
Tele‐operated systems rely heavily on visual feedback and experienced operators. This paper investigates how to make tasks easier.
Practical implications
The paper suggests that the amount of sensor support should be varied depending on circumstances.
Originality/value
Results show that human tele‐operators perform better without the assistance of a sensor systems in simple environments.
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Patrick Sim, Vincenzo Sacco and Gurvinder Singh Virk
This paper presents the development of the user interface for the Robovolc volcano exploration robot. The discussion examines the important issues, concepts that need to be…
Abstract
This paper presents the development of the user interface for the Robovolc volcano exploration robot. The discussion examines the important issues, concepts that need to be considered and the lessons learnt during the overall development phase. The process by which the final user interface was developed is also described, examining the key stages and decisions that were made. Lastly, results of the final tests carried out on Mount Etna are also discussed.
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Kiho Kim, Byung‐Suk Park, Ho‐Dong Kim, Syed Hassan and Jungwon Yoon
Hot‐cells are shielded structures protecting individuals from radioactive materials. The purpose of this paper is to propose a design approach for a hot‐cell simulator using…
Abstract
Purpose
Hot‐cells are shielded structures protecting individuals from radioactive materials. The purpose of this paper is to propose a design approach for a hot‐cell simulator using digital mock‐up (DMU) technology and combining Haptic guided complex robotic manipulation for assembly tasks in a virtual environment.
Design/methodology/approach
The principal reason for developing a simulator was to explore the feasibility of hot‐cell structure design and collision‐free assembly process. For this, a simulation design philosophy has been proposed that includes DMU facility offering the ability of analyzing the operations and performing complex robotic manipulations in the virtual hot‐cell environment. Furthermore, enhanced Haptic mapping for tele‐manipulation is proposed for training and guidance purposes.
Findings
From the analysis and task scenarios performed in virtual simulator, the optimal positions of the manipulators and need of (bridge transport dual arm servo‐manipulators) type were identified. Operation tasks were performed remotely using virtual hot‐cell technology by simulating the scenarios in the DMU reducing the overall operation cost and user training. The graphic simulator substantially reduced the cost of the process and maintenance procedure as well as the process equipment by providing a pre‐analysis of whole scenario for real manipulation.
Originality/value
This research tries to contribute to the virtual hot‐cell design philosophy. Tele‐operated complex robotic operations in DMU technology are performed in virtual hot‐cell. The simulator provides improved Haptic guidance with force and torque feedback enhancing the realism of virtual environment.
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Jun Zhou, Xilun Ding and Yu Yue Qing
The purpose of this paper is to present a novel automatic planning and coordinated control method of redundant dual‐arm space robot for inner space‐station operation based on…
Abstract
Purpose
The purpose of this paper is to present a novel automatic planning and coordinated control method of redundant dual‐arm space robot for inner space‐station operation based on multiple sensors information by stages.
Design/methodology/approach
In order to improve the coordinated control capability of dual‐arm robot system, a four‐layer hierarchical control structure is designed based on the theory of centralization and decentralization. At the high‐level planning of dual‐arm system, a task decomposition strategy based on task knowledge and a task allocation strategy in terms of the robotic capability are proposed, respectively. Moreover, a control method by stages based on the information of multiple sensors is introduced to object recognition, task planning, path planning and trajectory planning. Finally, a 3D simulation and experiment of screwing nut and bolt are implemented on a dual‐arm robot system, and the feasibility and applicability of this control strategy are verified.
Findings
The automatic planning can be accomplished by means of sensors information by stages, and by this method, the autonomy and intelligence of dual‐arm space robot system can be further improved.
Practical implications
A new automatic planning strategy integrated with multiple sensors information by stages is proposed, and can be implemented on a dual‐arm robot system for inner space‐station operations. This method specializes in heterogeneous dual‐arm robot system.
Originality/value
A task decomposition strategy based on task knowledge and a task allocation strategy in terms of the robotic capability are proposed, respectively. Moreover, a control method by stages based on the information of multiple sensors is introduced to object recognition, task planning, path planning and trajectory planning of dual‐arm robot system.
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David Sanders, Ian Stott, Jasper Graham‐Jones, Alexander Gegov and Giles Tewkesbury
The purpose of this paper is to investigate how to make powered‐wheelchair driving easier using simple expert systems to interpret joystick and ultrasonic sensor data. The expert…
Abstract
Purpose
The purpose of this paper is to investigate how to make powered‐wheelchair driving easier using simple expert systems to interpret joystick and ultrasonic sensor data. The expert systems interpret shaky joystick movement and identify potentially hazardous situations and then recommend safe courses of action.
Design/methodology/approach
The way that a human user interacts with a powered‐wheelchair is investigated. Some simple expert systems are presented that interpret hand tremor and provide joystick position signals for an ultrasonic sensor system. Results are presented from a series of timed tasks completed by users using a joystick to control a powered‐wheelchair. Effect on the efficiency of driving a powered‐wheelchair is measured using the times to drive through progressively more complicated courses. Drivers completed tests both with and without sensors and the most recently published systems are used to compare results.
Findings
The new expert systems consistently out‐performed the most recently published systems. A minor secondary result was that in simple environments, wheelchair drivers tended to perform better without any sensor system to assist them but in more complicated environments then they performed better with the sensor systems.
Research limitations/implications
The time taken for a powered‐wheelchair to move from one place to another partly depends on how a human user interacts with the powered‐wheelchair. Wheelchair driving relies heavily on visual feedback and the experience of the drivers. Although attempts were made to remove variation in skill levels by using sets of data associated with each driver and then using paired statistical tests on those sets, some variation must still be present.
Practical implications
The paper presents new systems that could allow more people to use powered‐wheelchairs and also suggests that the amount of sensor support should be varied depending on circumstances.
Originality/value
The new systems described in the paper consistently performed driving tasks more quickly than the most recently published systems.
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The purpose of this paper is to investigate the effect of time delay on the ability of a human operator to complete a task with a teleoperated mobile‐robot using two systems, two…
Abstract
Purpose
The purpose of this paper is to investigate the effect of time delay on the ability of a human operator to complete a task with a teleoperated mobile‐robot using two systems, two different ways of interacting with the mobile‐robots and several different environments.
Design/methodology/approach
Teleoperators are observed completing a series of tasks using a joystick to control a mobile‐robot while time delays are introduced to the system. They sit at a computer and view scenes remotely on a screen. Cameras are either mounted on the robot or mounted externally so that they view both the environment and robot. Teleoperators complete the tests both with and without sensors. One robot system uses an umbilical cable and one uses a radio link.
Findings
In simple environments, a teleoperator may perform better without a sensor system to assist them but as time delays are introduced then there are more failures. In more complicated environments or when time delays are longer, then teleoperators perform better with a sensor system to assist. Teleoperators may also tend to perform better with a radio link than with an umbilical connection.
Research limitations/implications
Teleoperated systems rely heavily on visual feedback and experienced operators. This paper investigates the effect of introducing a delay to the delivery of that visual feedback.
Practical implications
The paper suggests that in simple environments with short time delays then the amount of sensor support should be small but in more complicated environments or with longer delays then more sensor support needs to be provided.
Originality/value
Results from imposing time delays on a teleoperated mobile‐robot are presented. Effects on the task of different ways of viewing activity on a computer display are presented, that is with cameras mounted on the robot or cameras mounted externally to view both the environment and robot. Results from using sensors to assist teleoperators are presented. The paper suggests that the amount of sensor support should be varied depending on circumstances.
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S.A. Oke, O.E. Charles‐Owaba, A.O. Johnson and O.O. Omogoroye
This paper aims at developing a methodology capable of controlling accidents and failures in oil and gas production activities.
Abstract
Purpose
This paper aims at developing a methodology capable of controlling accidents and failures in oil and gas production activities.
Design/methodology/approach
Fuzzy analysis that is based on fuzzy linguistics, rule matrix, rule structures, and system operating rules is utilised. Fuzzy methodology is applied to develop a safety control model for the prevention of accidents and failures in oil and gas production activity offshore platforms.
Findings
The model is demonstrated with a case study, thereby suggesting the feasibility of the applied approach in practical cases.
Practical implications
Primarily, the study aims to guarantee safety. Also uncertainties and imprecision that commonly characterize safety measurement systems are tracked. The time‐consuming activity in measurement and the requirement of lots of specific information about the process is avoided.
Originality/value
The results from the study provide valuable baseline information for future research investigating how safety of oil platforms is affected by some factors.
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