Human-Machine Cooperative Research Articles

人の操作特性を考慮した人間機械協調テレロボティック作業支援システムの構築に関する実験的考察

人の操作特性を考慮した人間機械協調テレロボティック作業支援システムの構築に関する実験的考察

2A1-N-062 人間-機械協調作業系における手先到達動作時の人腕インピーダンス(人間機械協調3,生活を支援するロボメカ技術のメガインテグレーション)

2A1-N-062 人間-機械協調作業系における手先到達動作時の人腕インピーダンス(人間機械協調3,生活を支援するロボメカ技術のメガインテグレーション)

ツール伝達関数の安定性に基づく人間-機械協調作業系の制御系に関する一考察

ツール伝達関数の安定性に基づく人間-機械協調作業系の制御系に関する一考察

2A1-L09 ツール特性の安定性を前提とする人間-機械協調作業系の制御系の一般構造と設計指針

制御された動力機械を人間が物理的に直接操作し, 対象物に搬送や加工などを行なうシステム : 人間-機械協調作業系の, 操作性を重視した制御系設計を考える。まず, ツール特性(対象と機械が離れた状態での操作伝達特性)の安定性を前提に制御系の一般構造を導き, それに基づいて従来の代表的な制御方式の特徴と問題点を明らかにする。さらに, 操作性にとって重要である対象を含めた操作伝達特性と対象インピーダンス変動の操作は者への伝達特性について, 上の一般構造で達成可能な全クラスを示し, これらに注目した制御系設計を議論する。

Cooperative requests and replies in a collaborative dialogue model

In this paper, we present a computational model of dialogue, and an underlying theory of action, which supports the representation of, reasoning about and execution of communicative and non-communicative actions. This model rests on a theory of collaborative discourse, and allows for cooperative human–machine communication in written dialogues. We show how cooperative behaviour, illustrated by the analysis of a dialogue corpus and formalized by an underlying theory of cooperation, is interpreted and produced in our model. We describe and illustrate in detail the main algorithms used to model the reasoning processes necessary for interpretation, planning, generation, as well as for determining which actions to perform and when. Finally, we present our implemented system.Our data are drawn from a corpus of human–human dialogues, selected and transcribed from a day-long recording of phone calls at a phone desk in an industrial setting (Castaing, 1993). We present an analysis of this corpus, focusing on dialogues which require, in order to succeed, helpful behaviour on the part of both the caller and the operator.The theoretical framework of our model rests on the theory of collaborative discourse developed by Grosz and Sidner (1986, 1990), Grosz and Kraus (1993, 1996), and further extended by Lochbaum (1994, 1995). An important objective guiding the design of our dialogue model was to allow the agent being modelled to interpret and manifest a type of cooperative behaviour which follows Grosz and Kraus's formalization of the commitment of each collaborative agent towards the actions of the other collaborative agents. The model we propose extends Lochbaum's approach to discourse processing in extending her interpretation algorithm to allow for the treatment of a wider range of dialogues, and in providing an algorithm of task advancement which guides the generation process and allows for the interleaving of execution and planning, thereby facilitating cooperation among agents. The cooperative behaviour of the agent being modelled rests on the use of communicative actions allowing agents to share additional knowledge and assist each other in performing their actions.

Design of Human-machine Cooperative Telemanipulation Based on Extended Virtual Tool Dynamics

This paper proposes an alternative control algorithm for a telemanipulator based on the extended virtual tool dynamics. In this algorithm, the system is controlled so that it has the extended virtual tool dynamics which is designed appropriately for a given task. During the task, the dynamics assists a human operator as if it were a real mechanical tool and it improves the reality and the system maneuverability in the teleoperation. The major contribution of this paper is a realization of a new human-machine cooperative telemanipulation system by using the redundancy which exists immanently in the telemanipulation system. In this paper, the algorithm is experimentally applied to a telemanipulation system and the result illustrates the validity of the proposed system.

To Intervene or not to Intervene: The Dilemma of Management by Exception

Future air traffic management architectures propose to give aircraft more flight path autonomy and turn the air traffic controller into a manager of exceptions. This article reports on one experiment in a series of studies that empirically explored the cognitive work underlying management by exception in air traffic control. Active practitioners (controllers, pilots, dispatchers) were prepared on the rules of the envisioned system and presented with a series of future incidents, each of which they were required to jointly resolve. Management by exception turns out to trap human controllers in a double bind, where intervening early seems appealing but is difficult to justify (airspace throughput) and carry out (controller workload problems). Late interventions are just as difficult, since controllers will have to take over in the middle of a potentially challenging or deteriorating situation. Computerised decision support that flags exceptions migrates the decision criterion into a device, creating a threshold crossing that is typically set either too early or too late. This article lays out the intertwined trade-offs and dilemmas for the exception manager, and makes recommendations for cooperative human–machine architectures in future air traffic management.

A Design Method of Human-machine Cooperative Telemanipulation System Based on Extended Virtual Tool Dynamics.

This paper proposes an alternative control algorithm for a telemanipulator based on the extended virtual tool dynamics. In this algorithm the system is controlled so that it has the extended virtual tool dynamics which is designed appropriately for a given task. During the task, the dynamics assists a human operator as if it were a real mechanical tool and it improves the reality and the system maneuverability in the teleoperation. The major contribution of this paper is a realization of a new human-machine cooperative telemanipulation system by using the redundancy which exists immanently in the telemanipulation system. In this paper, the algorithm is experimentally applied to a telemanipulation system and the result illustrates the validity of the proposed system.

New Applications of Fluid Power to Human-Machine Cooperative Systems

Towards the 21st century, mechanical systems are required to change to be more cooperative in helping human life. Fluid power systems are one of the key technologies of the human-machine cooperative systems. Flexible and soft actuation is a special feature of fluid power systems. The research committee “Fluid power in human-machine cooperative systems” in JHPS has investigated new applications of fluid power systems to the emerging field. In this paper, the results of investigation by the committee: inquiries of needs for welfare apparatus and trends in research and development in Japan are summarized.

Human-machine cooperative control for ethylene production

A new intelligent control approach, human-machine cooperation, is applied to the ethylene production process. A two-dimensional visual model obtained by pattern recognition technology is used to supervise the plant and a cooperative control strategy is proposed.