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Switching between collaboration levels in a human-robot target recognition system
Year:
2011
Authors :
Bechar, Avital
;
.
Volume :
41
Co-Authors:
Tkach, I., Department of Industrial Engineering and Management, Ben-Gurion University of the Negev, Beer Sheva, Israel
Bechar, A., Institute of Agriculture Engineering, Agriculture Research Organization, Bet Dagan, Israel
Edan, Y., Department of Industrial Engineering and Management, Ben-Gurion University of the Negev, Beer Sheva, Israel
Facilitators :
From page:
955
To page:
967
(
Total pages:
13
)
Abstract:
This paper presents a set of algorithms that are developed for real-time dynamic switching between collaboration levels in a human-robot target recognition system. The algorithms were developed for a closed-loop controller to maximize system performance, despite deviations in the parameter values. These developments enable smooth real-time adaptation of the combined human-robot system to many possible changes of the environment, human operator, and robot performance. System performance was analyzed in simulations for a variety of target probability distributions. Two hundred independent simulations for each target probability distribution were conducted to calculate algorithm performance for a variety of conditions. Values for human operations were taken from a target recognition experiment dealing with detecting melons for a robotic melon harvester. The numerical analysis results indicated that the developed dynamic switching algorithms resulted in improved system performance that, in some cases, was increased by more than 90%. © 2011 IEEE.
Note:
Related Files :
Algorithm performance
Algorithms
Collaboration levels
human-robot interaction
Real-time adaptation
Show More
Related Content
More details
DOI :
10.1109/TSMCC.2011.2119480
Article number:
5740373
Affiliations:
Database:
Scopus
Publication Type:
article
;
.
Language:
English
Editors' remarks:
ID:
26659
Last updated date:
02/03/2022 17:27
Creation date:
17/04/2018 00:24
Scientific Publication
Switching between collaboration levels in a human-robot target recognition system
41
Tkach, I., Department of Industrial Engineering and Management, Ben-Gurion University of the Negev, Beer Sheva, Israel
Bechar, A., Institute of Agriculture Engineering, Agriculture Research Organization, Bet Dagan, Israel
Edan, Y., Department of Industrial Engineering and Management, Ben-Gurion University of the Negev, Beer Sheva, Israel
Switching between collaboration levels in a human-robot target recognition system
This paper presents a set of algorithms that are developed for real-time dynamic switching between collaboration levels in a human-robot target recognition system. The algorithms were developed for a closed-loop controller to maximize system performance, despite deviations in the parameter values. These developments enable smooth real-time adaptation of the combined human-robot system to many possible changes of the environment, human operator, and robot performance. System performance was analyzed in simulations for a variety of target probability distributions. Two hundred independent simulations for each target probability distribution were conducted to calculate algorithm performance for a variety of conditions. Values for human operations were taken from a target recognition experiment dealing with detecting melons for a robotic melon harvester. The numerical analysis results indicated that the developed dynamic switching algorithms resulted in improved system performance that, in some cases, was increased by more than 90%. © 2011 IEEE.
Scientific Publication
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