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Development and evaluation of Wearab...

University of Minnesota.

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Development and evaluation of Wearable Responder Interactive System for Teleoperation (WRIST).

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Development and evaluation of Wearable Responder Interactive System for Teleoperation (WRIST)./
作者:	Bae, Jaewook.
面頁冊數:	86 p.
附註:	Adviser: Richard M. Voyles.
Contained By:	Dissertation Abstracts International69-02B.
標題:	Engineering, Electronics and Electrical. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3302301
ISBN:	9780549477051

Development and evaluation of Wearable Responder Interactive System for Teleoperation (WRIST).
Bae, Jaewook.

Development and evaluation of Wearable Responder Interactive System for Teleoperation (WRIST). - 86 p.

Adviser: Richard M. Voyles.

Thesis (Ph.D.)--University of Minnesota, 2008.

As robots are being applied in a variety of areas, human computer interactive devices are also being improved for use in more extreme environments. Under restricted circumstances, such as in applications to urban search and rescue (USAR), it is particularly important for interactive devices to be maximally intuitive and minimally encumbering. USAR tasks are generally undertaken in hazardous environments with bulky protective clothing that impede interaction with traditional input devices. Rubble and debris may make walking with extra equipment difficult and loose wires that can become entangled are to be avoided.

ISBN: 9780549477051Subjects--Topical Terms:

626636
Engineering, Electronics and Electrical.

Development and evaluation of Wearable Responder Interactive System for Teleoperation (WRIST).
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245 1 0 $a Development and evaluation of Wearable Responder Interactive System for Teleoperation (WRIST).
300 $a 86 p.
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500 $a Source: Dissertation Abstracts International, Volume: 69-02, Section: B, page: 1189.
502 $a Thesis (Ph.D.)--University of Minnesota, 2008.
520 $a As robots are being applied in a variety of areas, human computer interactive devices are also being improved for use in more extreme environments. Under restricted circumstances, such as in applications to urban search and rescue (USAR), it is particularly important for interactive devices to be maximally intuitive and minimally encumbering. USAR tasks are generally undertaken in hazardous environments with bulky protective clothing that impede interaction with traditional input devices. Rubble and debris may make walking with extra equipment difficult and loose wires that can become entangled are to be avoided.
520 $a Interacting with conventional input devices may become clumsy and inconvenient in these extreme environments. Conventional input devices, such as a joystick, a mouse or a keyboard, are not appropriate to carry or operate under particular scenarios, such as gloves-on applications. In such environments, we should consider the most unencumbered structure as well as the most intuitive paradigm for interaction between a human operator and a robot or other computing device. In order to obtain these goals, a new design concept for the system is not only necessary, but the quantitative usability tests to evaluate it are also required. Thus, this thesis addresses a new paradigm called the gestural joystick and its usability test methodology and results.
520 $a As a part of the user interface system, dubbed the Wearable Responder Interactive System for Teleoperation (WRIST), video feedback is an essential function in USAR applications to achieve better performance in controlling the robot. While tethers provide very robust, high bandwidth video feedback, they tend to "clog up" access ports and limit the number of robots that can be deployed. Similarly, wireless communications fail rapidly M the harsh RF environment of a collapsed structure. A better low-power, high-bandwidth, multi-hop wireless sensor network protocol is required for such highly volatile networks. For WRIST, this thesis proposes a new hybrid multi-hop routing protocol for Wireless Video Sensor Networks over Bluetooth. The Locally Selectable Protocol combines the benefits of proactive cluster head gateway switch routing with the benefits of reactive ad-hoc on-demand distance vector routing to produce a low-power, multi-hop, ad-hoc network with low latency and high throughput from a sparse collection of highly volatile mobile nodes. This networking protocol is verified both in simulation and in actual hardware with custom Bluetooth nodes.
520 $a As part of the validation of the WRIST system, usability tests were performed in real and simulated robot obstacle courses. Performance metrics included both time-to-complete and a new metric dubbed "path tortuosity." Path tortuosity has been proposed before, but never verified as a unique metric with information content different from time-to-complete. For the first time, this thesis provides compelling, quantitative evidence that path tortuosity is a valuable addition to the time-to-complete metric for robot usability tests.
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