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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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