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Full-Text Articles in Mechanical Engineering
Co-Design Of Dynamic Real-Time Scheduling And Cooperative Control For Human-Agent Collaboration Systems Based On Mutual Trust, Xiaotian Wang
Co-Design Of Dynamic Real-Time Scheduling And Cooperative Control For Human-Agent Collaboration Systems Based On Mutual Trust, Xiaotian Wang
All Theses
Mutual trust is a key factor in human-human collaboration. Inspired by this social interaction, we analyze human-agent mutual trust in the collaboration of one human and (semi)autonomous multi-agent systems. In the thesis, we derive time-series human-agent mutual trust models based on results from human factors engineering. To avoid both over- trust and under-trust, we set up dynamic timing models for the multi-agent scheduling problem and develop necessary and sufficient conditions to test the schedulability of the human multi-agent collaborative task. Furthermore, we extend the collaboration between one human and multiple agents into the collaboration between multi-human network and swarm-based agents …
Analysis And Synthesis Of Effective Human-Robot Interaction At Varying Levels In Control Hierarchy, David Spencer
Analysis And Synthesis Of Effective Human-Robot Interaction At Varying Levels In Control Hierarchy, David Spencer
All Theses
Robot controller design is usually hierarchical with both high-level task and motion planning and low-level control law design. In the presented works, we investigate methods for low-level and high-level control designs to guarantee joint performance of human-robot interaction (HRI). In the first work, a low-level method using the switched linear quadratic regulator (SLQR), an optimal control policy based on a quadratic cost function, is used. By incorporating measures of robot performance and human workload, it can be determined when to utilize the human operator in a method that improves overall task performance while reducing operator workload. This method is demonstrated …