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dc.contributor.author Penizzotto Bacha, Franco Victor
dc.contributor.author Mut, Vicente Antonio
dc.contributor.author Slawiñski, Emanuel
dc.date.available 2016-04-18T20:52:08Z
dc.date.issued 2014-11
dc.identifier.citation 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
dc.identifier.issn 1454-8658
dc.identifier.uri http://hdl.handle.net/11336/5264
dc.description.abstract 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.
dc.format application/pdf
dc.language.iso eng
dc.publisher Romanian Society of Control Engineering and Technical Informatics
dc.rights info:eu-repo/semantics/openAccess
dc.rights.uri https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.subject Selective of Attention
dc.subject Visual Attention
dc.subject Human Factors
dc.subject Teleoperation of Mobile Robots
dc.subject Metric
dc.subject.classification Control Automático y Robótica
dc.subject.classification Ingeniería Eléctrica, Ingeniería Electrónica e Ingeniería de la Información
dc.subject.classification INGENIERÍAS Y TECNOLOGÍAS
dc.title Method to Estimate Human Inattention in Teleoperation of Mobile Robots
dc.type info:eu-repo/semantics/article
dc.type info:ar-repo/semantics/artículo
dc.type info:eu-repo/semantics/publishedVersion
dc.date.updated 2016-05-06 15:52:43.262787-03
dc.journal.volume 16
dc.journal.number 3
dc.journal.pagination 94-105
dc.journal.pais Rumania
dc.journal.ciudad Bucarest
dc.description.fil Fil: Penizzotto Bacha, Franco Victor. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
dc.description.fil Fil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
dc.description.fil Fil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
dc.journal.title Control Engineering And Applied Informatics
dc.relation.alternativeid info:eu-repo/semantics/altIdentifier/url/http://www.ceai.srait.ro/index.php?journal=ceai&page=article&op=view&path%5B%5D=2374


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info:eu-repo/semantics/openAccess Excepto donde se diga explícitamente, este item se publica bajo la siguiente descripción: Creative Commons Attribution-NonCommercial-ShareAlike 2.5 Unported (CC BY-NC-SA 2.5)