Automated Image Presentation for Backhoe Embankment Construction in Unmanned Construction Site

Chikushi, Shota; Chayama, Kazuhiro; Yamashita, Atsushi; Asama, Hajime; Moriyama, Yushi; Fujii, Hiromitsu; Tamura, Yusuke; Yamakawa, Hiroshi; Nagatani, Keiji; Yuya, Sakai; Chiba, Takumi; Yamamoto, Shinya

doi:10.1109/sii46433.2020.9026298

Cited by 7 publications

(6 citation statements)

References 15 publications

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“…Nicolis [99] used an assistant camera arm that keeps a primary gripper arm and manipulated object in view while avoiding occlusions in a scenario motivated by nuclear decommissioning. Chikushi [100] used an assistant UGV to provide an external view for a primary teleoperated UGV (backhoe construction machine) in a scenario motivated by disaster response. The assistant UGV autonomously moved to track and keep fiducials on the primary UGV in the predefined position in the image.…”

Section: Reactive Autonomous Visual Assistantsmentioning

confidence: 99%

“…The error rate was defined as either the number of collisions [101,103,102,94,105,106,92,93,42,95] or was task-specific (error distance in object placing [79], the classification accuracy of task outcome prediction [107], number of object drops during manipulation [95], or mistakes in REACH-ABILITY judgment [38,39,40,41]). The third was psychological metrics used by 14 out of 32 studies [82,98,104,81,92,93,38,39,40,41,42,89,95,100]. Those were measured by a post-completion questionnaire and assessed perceived mental workload, frustration, confidence, perceived task difficulty, perceived view helpfulness, perceived effectiveness, perceived level of task accomplishment, or perceived level of accuracy.…”

Section: Deliberative Autonomous Visual Assistantsmentioning

confidence: 99%

“…where v U i is the universal viewpoint value of i-th viewpoint, v i , across all the affordances, psychomotor aspects is not a good idea as the viewpoint quality distribution is not always intuitive. This can be exemplified on MANIPULABILITY affordance for which the best view is in fact not directly perpendicular to the manipulation task as is commonly assumed in the literature [31,32,33,34,87,35,88,36,20,89,97,100].…”

Section: Stabilitymentioning

confidence: 99%

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Best Viewpoints for External Robots or Sensors Assisting Other Robots

Dufek

Xiao

Murphy

2021

IEEE Trans. Human-Mach. Syst.

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This dissertation creates a model of the value of different external viewpoints of a robot performing tasks. The current state of the practice is to use a teleoperated assistant robot to provide a view of a task being performed by a primary robot. However, there is no existing model of the value of different external viewpoints and the choice of viewpoints is ad hoc not always leading to improved performance. This research develops the model using a psychomotor approach based REFERENCES .

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Section: Reactive Autonomous Visual Assistantsmentioning

confidence: 99%

Section: Deliberative Autonomous Visual Assistantsmentioning

confidence: 99%

Section: Stabilitymentioning

confidence: 99%

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Best Viewpoints for External Robots or Sensors Assisting Other Robots

Dufek

Xiao

Murphy

2021

IEEE Trans. Human-Mach. Syst.

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“…The second category was manual visual assistants (10 studies) where the visual assistant was teleoperated [1], [15], [23]- [26], [56]- [59]. The third category was reactive autonomous visual assistants (15 studies) where the visual assistant was autonomous but only reactively tracked the primary robot or object of interest without reasoning if there might be a better viewpoint [38], [60]- [73]. The fourth category was deliberative autonomous visual assistants (15 studies) where the visual assistant was autonomous and deliberatively reasoned about what would be the best viewpoints [17], [33], [35]- [37], [40]- [42], [74]- [79].…”

Section: Related Workmentioning

confidence: 99%

Best Viewpoints for External Robots or Sensors Assisting Other Robots

Dufek,

Xiao,

Murphy

2020

Preprint

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This work creates a model of the value of different external viewpoints of a robot performing tasks. The current state of the practice is to use a teleoperated assistant robot to provide a view of a task being performed by a primary robot; however, the choice of viewpoints is ad hoc and does not always lead to improved performance. This research applies a psychomotor approach to develop a model of the relative quality of external viewpoints using Gibsonian affordances. In this approach, viewpoints for the affordances are rated based on the psychomotor behavior of human operators and clustered into manifolds of viewpoints with the equivalent value. The value of 30 viewpoints is quantified in a study with 31 expert robot operators for 4 affordances (REACHABILITY, PASSABILITY, MANIPULABILITY, and TRAVERSABILITY) using a computerbased simulator of two robots. The adjacent viewpoints with similar values are clustered into ranked manifolds using agglomerative hierarchical clustering. The results show the validity of the affordance-based approach by confirming that there are manifolds of statistically significantly different viewpoint values, viewpoint values are statistically significantly dependent on the affordances, and viewpoint values are independent of a robot. Furthermore, the best manifold for each affordance provides a statistically significant improvement with a large Cohen's d effect size (1.1-2.3) in performance (improving time by 14%-59% and reducing errors by 87%-100%) and improvement in performance variation over the worst manifold. This model will enable autonomous selection of the best possible viewpoint and path planning for the assistant robot.

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“…Construction work in Japan, which is often affected by natural disasters such as large-scale earthquakes, windstorms, floods, and volcanic disasters, has been attracting attention for initiating the remote operation of construction machines from a safe location in cases where the actual location faces a risk of secondary disasters such as mudslides [ 1 , 2 ]. Compared to actual machine operation, remote operation requires care and consideration because it is difficult to ascertain the situation of the construction machine and the working environment; this tends to place a higher psychological load on the operator.…”

Section: Introductionmentioning

confidence: 99%

Psychological Effects of Heart Rate and Physical Vibration on the Operation of Construction Machines: Experimental Study

Hashiguchi

Cao

Lim

et al. 2021

JMIR Mhealth Uhealth

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Background A construction method has emerged in which a camera is installed around a construction machine, and the operator remotely controls the machine while synchronizing the vibration of the machine with the images seen from the operator's seat using virtual reality (VR) technology. Indices related to changes in heart rate (HR) and physical vibration, such as heart rate variability (HRV) and multiscale entropy (MSE), can then be measured among the operators. As these indices are quantitative measures of autonomic regulation in the cardiovascular system, they can provide a useful means of assessing operational stress. Objective In this study, we aimed to evaluate changes in HR and body vibration of machine operators and investigate appropriate methods of machine operation while considering the psychological load. Methods We enrolled 9 remote operators (18-50 years old) in the experiment, which involved 42 measurements. A construction machine was driven on a test course simulating a construction site, and three patterns of operation—riding operation, remote operation using monitor images, and VR operation combining monitor images and machine vibration—were compared. The heartbeat, body vibration, and driving time of the participants were measured using sensing wear made of a woven film-like conductive material and a three-axis acceleration measurement device (WHS-2). We used HRV analysis in the time and frequency domains, MSE analysis as a measure of the complexity of heart rate changes, and the ISO (International Standards Organization) 2631 vibration index. Multiple regression analysis was conducted to model the relationship among the low frequency (LF)/high frequency (HF) HRV, MSE, vibration index, and driving time of construction equipment. Efficiency in driving time was investigated with a focus on stress reduction. Results Multiple comparisons conducted via the Bonferroni test and Kruskal-Wallis test showed statistically significant differences (P=.05) in HRV-LF/HF, the vibration index, weighted acceleration, motion sickness dose value (MSDVz), and the driving time among the three operation patterns. The riding operation was found to reduce the driving time of the machine, but the operation stress was the highest in this case; operation based on the monitor image was found to have the lowest operation stress but the longest operation time. Multiple regression analysis showed that the explanatory variables (LH/HF), RR interval, and vibration index (MSDVz by vertical oscillation at 0.5-5 Hz) had a negative effect on the driving time (adjusted coefficient of determination R2=0.449). Conclusions A new method was developed to calculate the appropriate operating time by considering operational stress and suppressing the physical vibration within an acceptable range. By focusing on the relationship between psychological load and physical vibration, which has not been explored in previous studies, the relationship of these variables with the driving time of construction machines was clarified.

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Automated Image Presentation for Backhoe Embankment Construction in Unmanned Construction Site

Cited by 7 publications

References 15 publications

Best Viewpoints for External Robots or Sensors Assisting Other Robots

Best Viewpoints for External Robots or Sensors Assisting Other Robots

Best Viewpoints for External Robots or Sensors Assisting Other Robots

Psychological Effects of Heart Rate and Physical Vibration on the Operation of Construction Machines: Experimental Study

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