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Algorithms for dynamic switching of collaborative human-robot system in target recognition tasks
Year:
2009
Authors :
Bechar, Avital
;
.
Volume :
13
Co-Authors:
Tkach, I., Dept. of Industrial Engineering and Management, Ben-Gurion University of the Negev, Beer-Sheva, Israel
Edan, Y., Dept. of Industrial Engineering and Management, Ben-Gurion University of the Negev, Beer-Sheva, Israel
Bechar, A., Inst. of Agricultural Engineering, Volcani Center, A.R.O. Bet-Dagan, Israel
Facilitators :
From page:
2179
To page:
2184
(
Total pages:
6
)
Abstract:
This paper presents a set of algorithms 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 and were evaluated by conducting a thorough simulation analysis. These developments enable smooth realtime 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 probabilities distributions. Improvements that can be achieved by each algorithm were calculated as a mean value for 200 independent simulations for each target probability distribution. The numerical analysis results indicated that the developed algorithms for dynamic switching achieved improved system performance. © 2009 IFAC.
Note:
Related Files :
Algorithms
Mean values
Real-time adaptation
robots
Simulation analysis
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More details
DOI :
10.3182/20090603-3-RU-2001.0041
Article number:
Affiliations:
Database:
Scopus
Publication Type:
Conference paper
;
.
Language:
English
Editors' remarks:
ID:
27572
Last updated date:
02/03/2022 17:27
Creation date:
17/04/2018 00:32
Scientific Publication
Algorithms for dynamic switching of collaborative human-robot system in target recognition tasks
13
Tkach, I., Dept. of Industrial Engineering and Management, Ben-Gurion University of the Negev, Beer-Sheva, Israel
Edan, Y., Dept. of Industrial Engineering and Management, Ben-Gurion University of the Negev, Beer-Sheva, Israel
Bechar, A., Inst. of Agricultural Engineering, Volcani Center, A.R.O. Bet-Dagan, Israel
Algorithms for dynamic switching of collaborative human-robot system in target recognition tasks
This paper presents a set of algorithms 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 and were evaluated by conducting a thorough simulation analysis. These developments enable smooth realtime 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 probabilities distributions. Improvements that can be achieved by each algorithm were calculated as a mean value for 200 independent simulations for each target probability distribution. The numerical analysis results indicated that the developed algorithms for dynamic switching achieved improved system performance. © 2009 IFAC.
Scientific Publication
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