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\n\n \n \n Acharya, U.; Kunde, S.; Hall, L.; Duncan, B.; and Bradley, J.\n\n\n \n \n \n \n Inference of User Qualities in Shared Control.\n \n \n \n\n\n \n\n\n\n In
2018 IEEE International Conference on Robotics and Automation, pages 588–595, Brisbane, Australia, May 2018. 2018 IEEE International Conference on Robotics and Automation\n
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@inproceedings{acharya2018inference,\n\taddress = {Brisbane, Australia},\n\ttitle = {Inference of {User} {Qualities} in {Shared} {Control}},\n\tdoi = {10.1109/ICRA.2018.8461193},\n\tabstract = {Users play an integral role in the performance of many robotic systems, and robotic systems must account for differences in users to improve collaborative performance. Much of the work in adapting to users has focused on designing teleoperation controllers that adjust to extrinsic user indicators such as force, or intent, but do not adjust to intrinsic user qualities. In contrast, the Human-Robot Interaction community has extensively studied intrinsic user qualities, but results may not rapidly be fed back into autonomy design. Here we provide foundational evidence for a new strategy that augments current shared control, and provide a mechanism to directly feed back results from the HRI community into autonomy design. Our evidence is based on a study examining the impact of the user quality “locus of control” on telepresence robot performance. Our results support our hypothesis that key user qualities can be inferred from human-robot interactions (such as through path deviation or time to completion) and that switching or adaptive autonomies might improve shared control performance.},\n\tbooktitle = {2018 {IEEE} {International} {Conference} on {Robotics} and {Automation}},\n\tpublisher = {2018 IEEE International Conference on Robotics and Automation},\n\tauthor = {Acharya, Urja and Kunde, Siya and Hall, Lucas and Duncan, Brittany and Bradley, Justin},\n\tmonth = may,\n\tyear = {2018},\n\tkeywords = {Collision avoidance, Force, Human-Robot Interaction, Human-robot interaction, NSF 1638099, Robots, System performance, Task analysis, Telepresence, collaborative performance, groupware, human-robot interaction, locus of control, robotic systems, shared control, teleoperation controllers, telepresence robot, telerobotics},\n\tpages = {588--595},\n}\n\n
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\n Users play an integral role in the performance of many robotic systems, and robotic systems must account for differences in users to improve collaborative performance. Much of the work in adapting to users has focused on designing teleoperation controllers that adjust to extrinsic user indicators such as force, or intent, but do not adjust to intrinsic user qualities. In contrast, the Human-Robot Interaction community has extensively studied intrinsic user qualities, but results may not rapidly be fed back into autonomy design. Here we provide foundational evidence for a new strategy that augments current shared control, and provide a mechanism to directly feed back results from the HRI community into autonomy design. Our evidence is based on a study examining the impact of the user quality “locus of control” on telepresence robot performance. Our results support our hypothesis that key user qualities can be inferred from human-robot interactions (such as through path deviation or time to completion) and that switching or adaptive autonomies might improve shared control performance.\n
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\n\n \n \n Zhang, X.; Doebbeling, S.; and Bradley, J.\n\n\n \n \n \n \n \n Co-regulation of Computational and Physical Effectors in a Quadrotor Unmanned Aircraft System.\n \n \n \n \n\n\n \n\n\n\n In
Proceedings of the 9th ACM/IEEE International Conference on Cyber-Physical Systems, pages 119–129, Porto, Portugal, 2018. Proceedings of the 9th ACM/IEEE International Conference on Cyber-Physical Systems\n
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@inproceedings{zhang2018coregulation,\n\taddress = {Porto, Portugal},\n\ttitle = {Co-regulation of {Computational} and {Physical} {Effectors} in a {Quadrotor} {Unmanned} {Aircraft} {System}},\n\tisbn = {978-1-5386-5301-2},\n\turl = {https://doi.org/10.1109/ICCPS.2018.00020},\n\tdoi = {10.1109/ICCPS.2018.00020},\n\tbooktitle = {Proceedings of the 9th {ACM}/{IEEE} {International} {Conference} on {Cyber}-{Physical} {Systems}},\n\tpublisher = {Proceedings of the 9th ACM/IEEE International Conference on Cyber-Physical Systems},\n\tauthor = {Zhang, Xinkai and Doebbeling, Seth and Bradley, Justin},\n\tyear = {2018},\n\tkeywords = {NIFA 2017-67021-25924, NSF 1638099},\n\tpages = {119--129},\n}\n\n
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\n\n \n \n Hall, L.; Acharya, U.; Bradley, J.; and Duncan, B.\n\n\n \n \n \n \n \n Inference of User Qualities in Shared Control of CPHS: A Contrast in Users.\n \n \n \n \n\n\n \n\n\n\n In
2018 IFAC Cyber-Physical Human Systems, Miami, FL, December 2018. 2018 IFAC Cyber-Physical Human Systems\n
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\n\n \n \n Paper\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n
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@inproceedings{hall2018inference,\n\taddress = {Miami, FL},\n\ttitle = {Inference of {User} {Qualities} in {Shared} {Control} of {CPHS}: {A} {Contrast} in {Users}},\n\turl = {https://doi.org/10.1016/j.ifacol.2019.01.047},\n\tdoi = {10.1016/j.ifacol.2019.01.047},\n\tabstract = {Most cyber-physical human systems (CPHS) rely on users learning how to interact with the system. Rather, a collaborative CPHS should learn from the user and adapt to them in a way that improves holistic system performance. Accomplishing this requires collaboration between the human-robot/human-computer interaction and the cyber-physical system communities in order to feed back knowledge about users into the design of the CPHS. The requisite user studies, however, are difficult, time consuming, and must be carefully designed. Furthermore, as humans are complex in their interactions with autonomy it is difficult to know, a priori, how many users must participate to attain conclusive results.\n\nIn this paper we elaborate on our work to infer intrinsic user qualities through human-robot interactions correlated with robot performance in order to adapt the autonomy and improve holistic CPHS performance. We first demonstrate through a study that this idea is feasible. Next, we demonstrate that significant differences between groups of users can impact conclusions particularly where different autonomies are involved. Finally, we also provide our rich, extensive corpus of user study data to the wider community to aid researchers in designing better CPHS.},\n\tbooktitle = {2018 {IFAC} {Cyber}-{Physical} {Human} {Systems}},\n\tpublisher = {2018 IFAC Cyber-Physical Human Systems},\n\tauthor = {Hall, Lucas and Acharya, Urja and Bradley, Justin and Duncan, Brittany},\n\tmonth = dec,\n\tyear = {2018},\n\tkeywords = {NSF 1638099, Shared control, autonomous mobile robots, human robot interaction, telerobotics},\n}\n\n
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\n Most cyber-physical human systems (CPHS) rely on users learning how to interact with the system. Rather, a collaborative CPHS should learn from the user and adapt to them in a way that improves holistic system performance. Accomplishing this requires collaboration between the human-robot/human-computer interaction and the cyber-physical system communities in order to feed back knowledge about users into the design of the CPHS. The requisite user studies, however, are difficult, time consuming, and must be carefully designed. Furthermore, as humans are complex in their interactions with autonomy it is difficult to know, a priori, how many users must participate to attain conclusive results. In this paper we elaborate on our work to infer intrinsic user qualities through human-robot interactions correlated with robot performance in order to adapt the autonomy and improve holistic CPHS performance. We first demonstrate through a study that this idea is feasible. Next, we demonstrate that significant differences between groups of users can impact conclusions particularly where different autonomies are involved. Finally, we also provide our rich, extensive corpus of user study data to the wider community to aid researchers in designing better CPHS.\n
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\n\n \n \n Plowcha, A.; Sun, Y.; Detweiler, C.; and Bradley, J.\n\n\n \n \n \n \n Predicting Digging Success for Unmanned Aircraft System Sensor Emplacement.\n \n \n \n\n\n \n\n\n\n In
2018 International Symposium on Experimental Robotics, Buenos Aires, Argentina, November 2018. 2018 International Symposium on Experimental Robotics\n
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@inproceedings{plowcha2018predicting,\n\taddress = {Buenos Aires, Argentina},\n\ttitle = {Predicting {Digging} {Success} for {Unmanned} {Aircraft} {System} {Sensor} {Emplacement}},\n\tbooktitle = {2018 {International} {Symposium} on {Experimental} {Robotics}},\n\tpublisher = {2018 International Symposium on Experimental Robotics},\n\tauthor = {Plowcha, Adam and Sun, Yue and Detweiler, Carrick and Bradley, Justin},\n\tmonth = nov,\n\tyear = {2018},\n\tkeywords = {NIFA 2017-67021-25924, NSF 1638099},\n}\n\n
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\n\n \n \n Kruse, L.; and Bradley, J.\n\n\n \n \n \n \n A Hybrid, Actively Compliant Manipulator/Gripper for Aerial Manipulation with a Multicopter.\n \n \n \n\n\n \n\n\n\n In
2018 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pages 1–8, Philadelphia, PA, August 2018. 2018 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)\n
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@inproceedings{kruse2018hybrid,\n\taddress = {Philadelphia, PA},\n\ttitle = {A {Hybrid}, {Actively} {Compliant} {Manipulator}/{Gripper} for {Aerial} {Manipulation} with a {Multicopter}},\n\tdoi = {10.1109/SSRR.2018.8468651},\n\tabstract = {Abstract- Unmanned Multicopters provide access to dangerous or difficult to reach areas and can accomplish tasks normally reserved for people. Aerial manipulation in this scenario could provide enhanced capabilities but is a challenging problem where design often comes down to choosing between arm-like manipulation or claw-like grippers - each of which has associated benefits and drawbacks. We present a novel, lightweight, low-cost hybrid manipulator/gripper combining characteristics of both arm-like manipulators and claw-like grippers to enable aerial manipulation during search and rescue missions using a multicopter unmanned air vehicle. The gripper is composed of tandem two degree-of-freedom fingers wherein each finger can be individually controlled, allowing for the manipulation of irregular geometric shapes and compensation for the drone's drift. We describe the design, manufacturing, and prototyping of our design and conduct a series of experiments grasping objects of different size, shape, and weight to demonstrate the versatility and benefits of our hybrid design.},\n\tbooktitle = {2018 {IEEE} {International} {Symposium} on {Safety}, {Security}, and {Rescue} {Robotics} ({SSRR})},\n\tpublisher = {2018 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)},\n\tauthor = {Kruse, Liam and Bradley, Justin},\n\tmonth = aug,\n\tyear = {2018},\n\tkeywords = {Drones, End effectors, Grasping, Grippers, NIFA 2017-67021-25924, Payloads, Shape, Unmanned Multicopters, aerial manipulation, arm-like manipulators, autonomous aerial vehicles, claw-like grippers, compliant manipulator/gripper, dexterous manipulators, grippers, low-cost hybrid manipulator/gripper, manipulators, mobile robots, multicopter unmanned air vehicle, service robots},\n\tpages = {1--8},\n}\n\n
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\n Abstract- Unmanned Multicopters provide access to dangerous or difficult to reach areas and can accomplish tasks normally reserved for people. Aerial manipulation in this scenario could provide enhanced capabilities but is a challenging problem where design often comes down to choosing between arm-like manipulation or claw-like grippers - each of which has associated benefits and drawbacks. We present a novel, lightweight, low-cost hybrid manipulator/gripper combining characteristics of both arm-like manipulators and claw-like grippers to enable aerial manipulation during search and rescue missions using a multicopter unmanned air vehicle. The gripper is composed of tandem two degree-of-freedom fingers wherein each finger can be individually controlled, allowing for the manipulation of irregular geometric shapes and compensation for the drone's drift. We describe the design, manufacturing, and prototyping of our design and conduct a series of experiments grasping objects of different size, shape, and weight to demonstrate the versatility and benefits of our hybrid design.\n
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\n\n \n \n Kruse, L.; Plowcha, A.; and Bradley, J.\n\n\n \n \n \n \n \n Experimental Testing and Validation of Cyber-Physical Coregulation of a CubeSat.\n \n \n \n \n\n\n \n\n\n\n In
2018 AIAA SPACE and Astronautics Forum and Exposition, of
AIAA SPACE Forum, Orlando, FL, September 2018. 2018 AIAA SPACE and Astronautics Forum and Exposition\n
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@inproceedings{kruse2018experimental,\n\taddress = {Orlando, FL},\n\tseries = {{AIAA} {SPACE} {Forum}},\n\ttitle = {Experimental {Testing} and {Validation} of {Cyber}-{Physical} {Coregulation} of a {CubeSat}},\n\turl = {https://doi.org/10.2514/6.2018-5212},\n\tdoi = {10.2514/6.2018-5212},\n\tbooktitle = {2018 {AIAA} {SPACE} and {Astronautics} {Forum} and {Exposition}},\n\tpublisher = {2018 AIAA SPACE and Astronautics Forum and Exposition},\n\tauthor = {Kruse, Liam and Plowcha, Adam and Bradley, Justin},\n\tmonth = sep,\n\tyear = {2018},\n}\n\n
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\n\n \n \n Shen, T.; Nelson, C. A.; and Bradley, J.\n\n\n \n \n \n \n \n Design of a Model-Free Cross-Coupled Controller with Application to Robotic NOTES.\n \n \n \n \n\n\n \n\n\n\n
Journal of Intelligent & Robotic Systems. June 2018.\n
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@article{shen2018design,\n\ttitle = {Design of a {Model}-{Free} {Cross}-{Coupled} {Controller} with {Application} to {Robotic} {NOTES}},\n\tissn = {1573-0409},\n\turl = {https://doi.org/10.1007/s10846-018-0836-2},\n\tdoi = {10.1007/s10846-018-0836-2},\n\tabstract = {Cross-coupled synchronization is an effective method of controlling an articulated robot especially in applications with restrictive requirements and low tolerance to error. Model-free methods of cross-coupled synchronization provide similar performance in cases where models are difficult or impossible to obtain. Here a novel model-free cross-coupled adaptive synchronization method is developed and applied to a Natural Orifice Transluminal Endoscopic Surgery (NOTES) robot - where reducing contour error has the important benefit of reducing the risk of surgical error and improving patient outcomes. To accomplish this, a baseline model-free cross coupled strategy is used, and an adaptive control gain and a balance scaling factor are used to improve the performance. Experiments are then performed validating the functionality and effectiveness of the controller using a NOTES robot. The results show significant improvement in decreasing contour error when compared with similar methods.},\n\tjournal = {Journal of Intelligent \\& Robotic Systems},\n\tauthor = {Shen, Tao and Nelson, Carl A. and Bradley, Justin},\n\tmonth = jun,\n\tyear = {2018},\n}\n\n
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\n Cross-coupled synchronization is an effective method of controlling an articulated robot especially in applications with restrictive requirements and low tolerance to error. Model-free methods of cross-coupled synchronization provide similar performance in cases where models are difficult or impossible to obtain. Here a novel model-free cross-coupled adaptive synchronization method is developed and applied to a Natural Orifice Transluminal Endoscopic Surgery (NOTES) robot - where reducing contour error has the important benefit of reducing the risk of surgical error and improving patient outcomes. To accomplish this, a baseline model-free cross coupled strategy is used, and an adaptive control gain and a balance scaling factor are used to improve the performance. Experiments are then performed validating the functionality and effectiveness of the controller using a NOTES robot. The results show significant improvement in decreasing contour error when compared with similar methods.\n
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