Even with the advance of autonomous robotics and automation, many automated tasks still require human intervention or guidance to mediate uncertainties in the environment or to execute the complexities of a task that autonomous robots are not yet equipped to handle. As such, robot controllers are needed that utilize the strengths of both autonomous agents, adept at handling lower level control tasks, and humans, superior at handling higher-level cognitive tasks. To address this need, we develop a control theoretic framework that seeks to incorporate user commands such that user intention is preserved while an automated task is carried out by the controller. This is a novel approach in that system theoretic tools allow for analytic guarantees of feasibility and convergence to goal states which naturally lead to varying levels of autonomy. We develop a model predictive controller that takes human input, infers human intent, then applies a control that minimizes deviations from the intended human control while ensuring that the lower-level automated task is being completed. This control framework is then evaluated in a human operator study involving a shared control task with human guidance of a mobile robot for navigation. These theoretical and experimental results lay the foundation for applying this control method for human-robot cooperative control to actual human-robot tasks. Specifically, the control is applied to a Urban Search and Rescue robot task where the shared control of a quadruped rescue robot is needed to ensure static stability during human-guided leg placements in uneven terrain. This control framework is also extended to a multiple user and multiple agent system where the human operators control multiple agents such that the agents maintain a formation while allowing the human operators to manipulate the shape of the formation. User studies are also conducted to evaluate the control in multiple operator scenarios.

Thesis (M.S.)--Mississippi State University. Department of Industrial Engineering. / Title from title screen. Includes bibliographical references.

Originally presented as the author's Thesis--Technische Hochschule Aachen, 2008. / Includes bibliographical references.

ABSTRACT THE RELATIONSHIP BETWEEN SOCIO ECONOMIC FACTORS AND USE CONTEXT IN PRODUCT USABILITY Karapars, Zeynep M. Sc., Department of Industrial Design Supervisor: Assoc. Prof. Dr. &Ccedil / igdem Erbug April 2004, 184 pages Developments in the usability discipline have lead to new paths in new product development processes. The methods for development of usable products are abundant and the area is crescent for new research. One of the concerns in usability lies in the question of employment of user centered design in the prevailing product development processes. In this study, it is aimed to be clarified that inquiry into the use context should be an initial step in user centered design. However, use context is one of the less explored areas of usability. Detailed examinations of contextual factors may open paths to new methods of integrating usability into products. This study aims to take a step towards the analysis of the impact of socio economic factors on usability of product. A field study is made in order to acquire a deeper understanding. Samples of two different socio-economic groups are defined from the marketing perspective. Contextual factors are specified on the example of washing machines. Comparison of problems between the users from the two socio economic groups shed light on the relationship between socio economic variables and usability problems.

Recent decades have been witness to explosive leaps in manufacturing productivity. Advances in communication technology, computing speed, control theory, and sensing technology have been significant contributors toward the increased productivity and efficiency that industry has exhibited. The continued growth of technological equipment and engineering knowledge challenges engineers to fully utilize these advancements in more sophisticated and useful automation systems. One such application involves enhancing bridge and gantry crane operation. These systems are used throughout the globe, and are critical aspects of industrial productivity. Consequently, improving the operational effectiveness of cranes can be extremely valuable. Effective control of cranes can be largely attributed to two distinct, but related aspects crane manipulation: 1) the expertise of operators, which are responsible for issuing commands to the structures, and 2) the dynamic properties of cranes, which influence how the structures respond to issued commands. Accordingly, the operational efficiency of cranes can be influenced by changing both the way that operators issue commands to cranes, and also how the crane responds to issued commands. This thesis is concerned with dynamic control theory of flexible machines, and human/machine interaction, especially as these areas relate to industrial crane control. In the area of dynamic control, this thesis investigates control strategies that are specifically suited for use on systems that possess common actuator nonlinearities, like saturation, rate limiting, dead-zone, backlash, and finite-state actuation. In the area of human/machine interaction, this thesis investigates the effects of different crane interface devices on the operational efficiency of cranes.

Diss. (sammanfattning) Linköping : Univ., 2002. / Härtill 5 uppsatser.

Thesis (M.S.)--State University of New York at Binghamton, Thomas J. Watson School of Engineering and Applied Science, Department of Systems Science and Industrial Engineering, 2009. / Includes bibliographical references.

Thesis (M.S.)--State University of New York at Binghamton, Department of Systems Science and Industrial Engineering, 2009. / Includes bibliographical references (leaves: 150-155).

Thesis (MPhil)--Stellenbosch University, 2003. / ENGLISH ABSTRACT: This study aims to investigate a work environment into which a new workflow system, that automates the work process, has recently been introduced. The study will focus on the level of work morale displayed by the people active in this new environment, as well as their perception of their work. The study takes the form of a case study carried out in the Nedcor Home Loans Application Processing Centre. This centre is the central area in which all home loan applications for the entire Gauteng, North West, Orange Free State, Mpumalanga and Limpopo regions are collated and processed. The applications from these regions translate into a total of between 9 and 13 thousand applications each month. The home loan application process is the most complex of the banking application processes as it involves a number of interfaces with external parties and systems. The workflow system was introduced in order to simplify, co-ordinate and accelerate this process. The study was conducted using D. A. De Vaus's Surveys in Social Research, Fourth Edition, a methodology for surveys in social research, as a guideline. A structured questionnaire was constructed in order to collect data regarding the opinions and behaviour of the sample members. A pilot study was conducted with 10 of the sample members in order to test and refine the survey instrument. Following this, the updated survey instrument was distributed to the sample group. The population of the case study environment consisted of less than 100 people all situated in one location. For this reason the entire survey population was selected as the sample population. The data collected described the sample members' attitudes towards work, their relationships with their colleagues, as well as their perceptions of their opportunities for personal growth, as a measure of their level of work morale. Information describing the employees perceived type of work was also collected. This was done by accumulating information regarding the level of thinking, responsibility and monotony that characterised their work, as well as the proportion of time that staff members spent interacting directly with the system. After the survey implementation, the data was collated and analysed. The reliability of the data was tested using Cronbach's alpha. Data that originated from concepts with Cronbach's alpha scores of below 0,6 were deemed to be unreliable and were removed from the dataset. A correlation analysis, using Spearman's rank correlation, was conducted on the remaining data. This analysis was aimed at establishing whether any correlations between the type of work carried out by an employee and his or her associated level of work morale exist. It was established that the level of work morale that characterised the case study environment was relatively low, as will be discussed in detail in Chapter 5. Furthermore, it was ascertained that the introduction of the system had a significant influence on the nature of the work carried out by the staff in the case study environment, and that a strong correlation existed between the type of work carried out by an employee and his or her associated level of work morale. From this it was concluded that the introduction of the system influenced the level of work morale found to characterise the case study environment. / AFRIKAANSE OPSOMMING: Die doelwit van hierdie studie is om 'n werksomgewing te evalueer waar 'n nuwe werkvloeistelsel, wat prosesse outomatiseer, onlangs geimplementeer is. Die studie fokus op die vlak van werk moraal wat vertoon word deur mense in hierdie nuwe omgewing, sowel as hulle persepsie van hul werk. Die studie neem die vorm aan van 'n gevallestudie wat uitgevoer is in die Nedcor Huislening Applikasie Sentrum. Hierdie sentrum is die sentrale plek waar alle huislening applikasies vir die Gauteng, Noordwes, Vrystaat, Mpumalanga en Limpopo gebiede versamel en verwerk word. Die hoeveelheid applikasies in hierdie gebiede is tussen 9 000 en 13 000 per maand. Die huislening applikasie proses is die mees komplekse proses van alle bank applikasie prosesse, aangesien dit 'n aantal integrasies met eksterne partye en stelsels vereis. Die werkvloeistelsel is geimplementeer om hierdie prosesse te vereenvoudig, te koordineer en te versnel. Die studie is uitgevoer deur D.A. De Vaus se "Surveys in Social Research, Fourth Edition, a methodology for surveys in social research" as 'n verwysingsraamwerk te gebruik. 'n Gestruktureerde vraelys is saamgestel om data te versamel oor die menings en gedrag van die lede in die toetsgroep. 'n Proefstudie is uitgevoer met 10 lede van die toetsgroep om die opname-instrument te toets en te verfyn. Daarna is die opgedateerde opname instrument onder die toetsgroep versprei. Die bevolking van die gevallestudie bestaan uit minder as 100 mense wat almal in dieselfde lokasie geplaas is. Om hierdie rede is die totale bevolking gekies as die toetsgroep. Die data wat versamel is het die lede van die toetsgroep se houdings teenoor hulle werk, hulle verhoudings met hulle kollegas, sowel as hulle persepsie van geleenthede vir persoonlike groei, beskryf. Die data is gebruik as 'n aanduiding van hul vlak van werk moraal. Data wat die werknemers se persepsie van hulle tipe werk weerspieel, is ook versamel. Data oor die denkvlak, verantwoordelikheid en eentonigheid van hulle werk, sowel as die hoeveelheid tyd wat personeellede spandeer het op direkte interaksie met die stelsel. Na die implementering van die opname, is die data versamel en geanaliseer. Die betroubaarheid van die data is getoets deur Cronbach se alpha toets toe te pas. Data, waar die indikator se Cronbach alpha telling minder was as 0.6, is geag as onbetroubaar en is verwyder van die datastel. 'n Korrelasie-analise is uitgevoer op die oorblywende data, deur gebruik te maak van Spearman se korrelasie mode. Die analise is daarop gefokus om te bepaal of daar enige ooreenstemming is tussen 'n werknemer se tipe werk en sy of haar verwante vlak van werkmoraal. Daar is gevind dat die vlak van werkmoraal wat hierdie studie kenmerk, relatief laag is. Dit sal verder bestudeer work in hoofstuk 5. Daar is ook bevind dat die instelling van die stelsel 'n beduidende invloed het op die werk wat uitgevoer word deur die betrokke personeel in die gevallestudie-omgewing. Daar is 'n sterk korrelasie tussen die tipe werk en die vlak van werk moraal van werknemers. Die gevolgtrekking is dus dat die instelling van die stelsel die vlak van werkmoraal beinvloed het in hierdie gevallestudie.

Les développements récents de la réalité virtuelle font du travail collaboratif assisté par ordinateur un outil prometteur et flexible. Il est en effet aujourd’hui possible, de représenter les données ainsi que les utilisateurs eux-mêmes de manière vivante dans les environnements virtuels collaboratifs (EVC). Les EVC se définissent comme des mondes virtuels distribués, générés par ordinateur, dans lesquels les utilisateurs peuvent se rencontrer, communiquer et interagir entre eux, mais aussi avec des données et des objets 3D. Les utilisateurs peuvent être éloignés physiquement, parler des langues différentes et utiliser des systèmes informatiques hétérogènes tout en collaborant malgré tout au sein d’un EVC. L’objectif principal des EVC est de proposer une collaboration fluide entre plusieurs utilisateurs. Ceci implique de prendre en charge un nombre considérable d’échanges, de communications et de négociations mais également de permettre des activités collaboratives. Par ailleurs, il est nécessaire de proposer des techniques d’interaction ainsi que des moyens pour bien prendre conscience de tout ce qui se passe dans l’environnement. Afin de préserver ces différents aspects dans la conception des EVC, nous nous intéressons à quatre facteurs essentiels : l’immersion, la conscience, la communication et l’intuitivité. Ces facteurs sont déterminants pour le succès des systèmes virtuels collaboratifs. En tenant compte des quatre facteurs cités cidessus, nous proposons et évaluons de nouvelles métaphores pour la navigation et la manipulation afin d’améliorer et d’enrichir les techniques d’interactions dans les EVC. Premièrement, nous proposons et évaluons un ensemble de trois métaphores de navigation pour explorer un environnement à plusieurs : indiquer un chemin en dessinant des flèches, illuminer un chemin à suivre et orienter une boussole pour montrer une direction. Ces métaphores peuvent être implémentées dynamiquement et utilisées directement dans n’importe quels environnements. Nos résultats révèlent que ces métaphores de navigation réduisent considérablement le temps passé à chercher un chemin dans des contextes d’exploration collaborative. Par ailleurs, nous avons développé une technique de manipulation directe dédiée aux environnements virtuels immersifs. Cette technique, qui utilise sept points de contrôle, affranchit l’utilisateur de plusieurs difficultés souvent rencontrées telles que le tremblement de la main ou l’effet Heisenberg lors de la manipulation d’objets 3D dans un système de projection immersive. En réduisant le nombre de degrés de liberté de l’objet manipulé à l’aide de point de contrôle, notre technique permet à l’utilisateur de contrôler partiellement l’objet, rendant ainsi la manipulation d’objets volumineux plus aisée. Enfin, nous avons implémenté et évalué deux métaphores d'interaction dans une application de conception et d'aménagement de poste de travail industriel. En tenant compte des quatre facteurs cités ci-dessus, nous avons implémenté une application de conception de poste de travail pour trois principaux types d'utilisateurs : un utilisateur final, un ingénieur et un expert en ergonomie. Afin d'avoir un niveau d'immersion optimal et des interactions naturelles entre des utilisateurs, nous avons implémenté une configuration de système asymétrique pour chaque utilisateur. Chacun pouvait utiliser quelque métaphores de communication implicites qui étaient simples, naturelles, et pertinentes dans notre contexte collaborative. / Recent progress of the virtual reality technology gives the computer supported collaborative work a potential and flexible tool of vividly representing data as well as users themselves in collaborative virtual environments. Collaborative virtual environments have been defined as computer-based, distributed virtual worlds in which people can meet, communicate and interact with others, with data and 3D objects. People may be geometrically far from each other, speak different languages and use heterogeneous computer systems. The ultimate goal in developing collaborative virtual environments is to support a smooth collaboration between multiple users which involves considerable communication and negotiation, cooperative and collaborative activities, interaction techniques, and awareness process. Considering these aspects into the design of a collaborative virtual environment, we are interested in four main factors, including immersion, awareness, communication and naturalness. These factors greatly determine the success of a collaborative virtual system. From the need of improving and completing interaction techniques in CVEs considering the four preceding factors, in this research we propose and evaluate new metaphors for 3D navigation and manipulation techniques. The first contribution of this research is to propose and evaluate a set of three navigation metaphors in a collaborative exploration context, including drawing directional arrows, lighting up path to follow, and orientating a compass to show a direction. These navigation metaphors can be dynamically implemented and used without constraints in any 3D virtual environments. The empirical result of our experiment revealed that these navigation metaphors considerably reduced wasted time in a wayfinding task of a collaborative exploring scenario. We have developed, in the second part of this research, a direct manipulation technique in immersive virtual environments. This manipulation technique deals with some difficulties the user often encounters such as hand jitter or Heisenberg effects while manipulating 3D objects in immersive projection systems. By dividing the number of degrees of freedom of the manipulated object into each handle of our tool, our technique enables a user to partially control the object, making the manipulation of large objects easier in immersive virtual environments. The last contribution of this research is the implementation and evaluation of two interaction metaphors in a digital mock-up application. Taking into account the four factors including immersion, awareness, communication and naturalness, we have built a workstation design application for three main users: an end-user, a design engineer and an ergonomics expert. In order to have an optimal immersion for the whole application and natural interaction between them, we have implemented an asymmetric system setup at each user's site. Each user could use some implicit communication metaphors which were simple, natural and still relevant in our collaborative context.