Method to Estimate Human Inattention in Teleoperation of Mobile Robots

Autores
Penizzotto Bacha, Franco Victor; Mut, Vicente Antonio; Slawiñski, Emanuel
Año de publicación
2014
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
In teleoperation of mobile robots the operator is remotely located. As a result, generally the human perception of the remote environment is distorted affecting the mission negatively. Visual information can be degraded because of video images bandwith, time lags, frame rates, point of view and motion effects among other reasons. Although many researchers have proposed a variety of methods for measuring perception, just a few can be used in control closed loop systems. This paper aims to provide a novel metric to the human visual inattention upon risk for a remotely navigated mobile robot. We present both qualitative and quantitative guidelines for designing the metric in a teleoperation of a mobile robot. The method allows to incorporate the metric in a control closed loop system, and task consists in guiding the robot from an initial point to a final one as quick as possible, considering the constraint of avoiding collisions. Furthermore, a haptic cue based on the metric is proposed in order to help the human to avoid collisions. A system stability analysis considering time varying delays is proposed. Additionally, we present a human in the loop experiment of a teleoperation of a 3D mobile robot simulator in order to remark the advantages of using human factors in the controller.
Fil: Penizzotto Bacha, Franco Victor. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Materia
Selective of Attention
Visual Attention
Human Factors
Teleoperation of Mobile Robots
Metric
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/5264
Acceder
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oai_identifier_str oai:ri.conicet.gov.ar:11336/5264
network_acronym_str CONICETDig
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network_name_str CONICET Digital (CONICET)
spelling Method to Estimate Human Inattention in Teleoperation of Mobile RobotsPenizzotto Bacha, Franco VictorMut, Vicente AntonioSlawiñski, EmanuelSelective of AttentionVisual AttentionHuman FactorsTeleoperation of Mobile RobotsMetrichttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2In teleoperation of mobile robots the operator is remotely located. As a result, generally the human perception of the remote environment is distorted affecting the mission negatively. Visual information can be degraded because of video images bandwith, time lags, frame rates, point of view and motion effects among other reasons. Although many researchers have proposed a variety of methods for measuring perception, just a few can be used in control closed loop systems. This paper aims to provide a novel metric to the human visual inattention upon risk for a remotely navigated mobile robot. We present both qualitative and quantitative guidelines for designing the metric in a teleoperation of a mobile robot. The method allows to incorporate the metric in a control closed loop system, and task consists in guiding the robot from an initial point to a final one as quick as possible, considering the constraint of avoiding collisions. Furthermore, a haptic cue based on the metric is proposed in order to help the human to avoid collisions. A system stability analysis considering time varying delays is proposed. Additionally, we present a human in the loop experiment of a teleoperation of a 3D mobile robot simulator in order to remark the advantages of using human factors in the controller.Fil: Penizzotto Bacha, Franco Victor. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaRomanian Society of Control Engineering and Technical Informatics2014-11info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/5264Penizzotto Bacha, Franco Victor; Mut, Vicente Antonio; Slawiñski, Emanuel; Method to Estimate Human Inattention in Teleoperation of Mobile Robots; Romanian Society of Control Engineering and Technical Informatics; Control Engineering And Applied Informatics; 16; 3; 11-2014; 94-1051454-8658enginfo:eu-repo/semantics/altIdentifier/url/http://www.ceai.srait.ro/index.php?journal=ceai&page=article&op=view&path%5B%5D=2374info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-29T09:46:19Zoai:ri.conicet.gov.ar:11336/5264instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-29 09:46:19.82CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Method to Estimate Human Inattention in Teleoperation of Mobile Robots
title Method to Estimate Human Inattention in Teleoperation of Mobile Robots
spellingShingle Method to Estimate Human Inattention in Teleoperation of Mobile Robots
Penizzotto Bacha, Franco Victor
Selective of Attention
Visual Attention
Human Factors
Teleoperation of Mobile Robots
Metric
title_short Method to Estimate Human Inattention in Teleoperation of Mobile Robots
title_full Method to Estimate Human Inattention in Teleoperation of Mobile Robots
title_fullStr Method to Estimate Human Inattention in Teleoperation of Mobile Robots
title_full_unstemmed Method to Estimate Human Inattention in Teleoperation of Mobile Robots
title_sort Method to Estimate Human Inattention in Teleoperation of Mobile Robots
dc.creator.none.fl_str_mv Penizzotto Bacha, Franco Victor
Mut, Vicente Antonio
Slawiñski, Emanuel
author Penizzotto Bacha, Franco Victor
author_facet Penizzotto Bacha, Franco Victor
Mut, Vicente Antonio
Slawiñski, Emanuel
author_role author
author2 Mut, Vicente Antonio
Slawiñski, Emanuel
author2_role author
author
dc.subject.none.fl_str_mv Selective of Attention
Visual Attention
Human Factors
Teleoperation of Mobile Robots
Metric
topic Selective of Attention
Visual Attention
Human Factors
Teleoperation of Mobile Robots
Metric
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv In teleoperation of mobile robots the operator is remotely located. As a result, generally the human perception of the remote environment is distorted affecting the mission negatively. Visual information can be degraded because of video images bandwith, time lags, frame rates, point of view and motion effects among other reasons. Although many researchers have proposed a variety of methods for measuring perception, just a few can be used in control closed loop systems. This paper aims to provide a novel metric to the human visual inattention upon risk for a remotely navigated mobile robot. We present both qualitative and quantitative guidelines for designing the metric in a teleoperation of a mobile robot. The method allows to incorporate the metric in a control closed loop system, and task consists in guiding the robot from an initial point to a final one as quick as possible, considering the constraint of avoiding collisions. Furthermore, a haptic cue based on the metric is proposed in order to help the human to avoid collisions. A system stability analysis considering time varying delays is proposed. Additionally, we present a human in the loop experiment of a teleoperation of a 3D mobile robot simulator in order to remark the advantages of using human factors in the controller.
Fil: Penizzotto Bacha, Franco Victor. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
description In teleoperation of mobile robots the operator is remotely located. As a result, generally the human perception of the remote environment is distorted affecting the mission negatively. Visual information can be degraded because of video images bandwith, time lags, frame rates, point of view and motion effects among other reasons. Although many researchers have proposed a variety of methods for measuring perception, just a few can be used in control closed loop systems. This paper aims to provide a novel metric to the human visual inattention upon risk for a remotely navigated mobile robot. We present both qualitative and quantitative guidelines for designing the metric in a teleoperation of a mobile robot. The method allows to incorporate the metric in a control closed loop system, and task consists in guiding the robot from an initial point to a final one as quick as possible, considering the constraint of avoiding collisions. Furthermore, a haptic cue based on the metric is proposed in order to help the human to avoid collisions. A system stability analysis considering time varying delays is proposed. Additionally, we present a human in the loop experiment of a teleoperation of a 3D mobile robot simulator in order to remark the advantages of using human factors in the controller.
publishDate 2014
dc.date.none.fl_str_mv 2014-11
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/5264
Penizzotto Bacha, Franco Victor; Mut, Vicente Antonio; Slawiñski, Emanuel; Method to Estimate Human Inattention in Teleoperation of Mobile Robots; Romanian Society of Control Engineering and Technical Informatics; Control Engineering And Applied Informatics; 16; 3; 11-2014; 94-105
1454-8658
url http://hdl.handle.net/11336/5264
identifier_str_mv Penizzotto Bacha, Franco Victor; Mut, Vicente Antonio; Slawiñski, Emanuel; Method to Estimate Human Inattention in Teleoperation of Mobile Robots; Romanian Society of Control Engineering and Technical Informatics; Control Engineering And Applied Informatics; 16; 3; 11-2014; 94-105
1454-8658
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/http://www.ceai.srait.ro/index.php?journal=ceai&page=article&op=view&path%5B%5D=2374
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
application/pdf
application/pdf
application/pdf
dc.publisher.none.fl_str_mv Romanian Society of Control Engineering and Technical Informatics
publisher.none.fl_str_mv Romanian Society of Control Engineering and Technical Informatics
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
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score 13.070432

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