Pub Date : 2020-09-01DOI: 10.1109/ICHMS49158.2020.9209358
Ryuichi Furuhashi, Taro Sugihara, Kenji Sato, A. Gofuku
Rehabilitation in patients with phantom limb pain using an electric prosthetic hand is a promising way to mitigate their pain. This method is thought to reconstruct the patient’s sensory-motor loop that connects a command from the brain for a particular movement with the perception that the electric prosthetic hand is actually being driven by this command. A sense of agency (SoA), offered by the feeling that the prosthetic hand is being operated by the patient’s own intentions, is important for this rehabilitation. However, the relationship between characteristics of the prosthetic hand, especially the degree of reproducibility of its appearance and of gripping actions, and the associated SoA is not clear. This study therefore investigated the influence of the reproducibility of gripping action of an electric prosthetic hand and its appearance on participants’ (n = 60) SoA. In advance of adopting patient with phantom limb pain, this study focused on the difference of SoA scores of healthy participants. Significant differences were observed in SoA scores due to the changes in reproducibility of the appearance and gripping action. It is suggested that SoA is more strongly perceived when the prosthetic hand does not strictly resemble a human hand.
{"title":"Tolerance of time delay to the sense of agency for operating electric prosthetic hands: a preliminary experiment with the appearance and gripping action","authors":"Ryuichi Furuhashi, Taro Sugihara, Kenji Sato, A. Gofuku","doi":"10.1109/ICHMS49158.2020.9209358","DOIUrl":"https://doi.org/10.1109/ICHMS49158.2020.9209358","url":null,"abstract":"Rehabilitation in patients with phantom limb pain using an electric prosthetic hand is a promising way to mitigate their pain. This method is thought to reconstruct the patient’s sensory-motor loop that connects a command from the brain for a particular movement with the perception that the electric prosthetic hand is actually being driven by this command. A sense of agency (SoA), offered by the feeling that the prosthetic hand is being operated by the patient’s own intentions, is important for this rehabilitation. However, the relationship between characteristics of the prosthetic hand, especially the degree of reproducibility of its appearance and of gripping actions, and the associated SoA is not clear. This study therefore investigated the influence of the reproducibility of gripping action of an electric prosthetic hand and its appearance on participants’ (n = 60) SoA. In advance of adopting patient with phantom limb pain, this study focused on the difference of SoA scores of healthy participants. Significant differences were observed in SoA scores due to the changes in reproducibility of the appearance and gripping action. It is suggested that SoA is more strongly perceived when the prosthetic hand does not strictly resemble a human hand.","PeriodicalId":132917,"journal":{"name":"2020 IEEE International Conference on Human-Machine Systems (ICHMS)","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132828693","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-01DOI: 10.1109/ICHMS49158.2020.9209366
Y. A. Paredes-Astudillo, Diego Moreno, Ana-Maria Vargas, Maria-Alejandra Angel, Sergio Perez, J. Jimenez, Luis A. Saavedra-Robinson, D. Trentesaux
Production systems contain advanced automated processes, and humans are involved in activities, such as monitoring, managing and/or operating, to ensure the right functioning of these systems. The challenge for industries is to develop human-centred scheduling systems that orchestrate the interaction between human and machines devices considering both operations productivity and human well-being. In this paper, a cyber-physical production system integrating a smart station is proposed to dynamically change the schedule of tasks to human operators, regarding the cognitive fatigue level during execution. The smart station consists in a human operator connected to a galvanometer that tracks electric currents on his skin coupled to a virtual holon that seeks the human well-being minimising his cognitive fatigue estimated from the tracking of the current. This Holon is also in charge of the modification of the scheduling through the adaption of the workload. A real experiment has been conducted to validate the contribution of the proposed approach and the results demonstrate significant mitigation of human wellbeing degradation in term of cognitive fatigue.
{"title":"Human Fatigue Aware Cyber-Physical Production System","authors":"Y. A. Paredes-Astudillo, Diego Moreno, Ana-Maria Vargas, Maria-Alejandra Angel, Sergio Perez, J. Jimenez, Luis A. Saavedra-Robinson, D. Trentesaux","doi":"10.1109/ICHMS49158.2020.9209366","DOIUrl":"https://doi.org/10.1109/ICHMS49158.2020.9209366","url":null,"abstract":"Production systems contain advanced automated processes, and humans are involved in activities, such as monitoring, managing and/or operating, to ensure the right functioning of these systems. The challenge for industries is to develop human-centred scheduling systems that orchestrate the interaction between human and machines devices considering both operations productivity and human well-being. In this paper, a cyber-physical production system integrating a smart station is proposed to dynamically change the schedule of tasks to human operators, regarding the cognitive fatigue level during execution. The smart station consists in a human operator connected to a galvanometer that tracks electric currents on his skin coupled to a virtual holon that seeks the human well-being minimising his cognitive fatigue estimated from the tracking of the current. This Holon is also in charge of the modification of the scheduling through the adaption of the workload. A real experiment has been conducted to validate the contribution of the proposed approach and the results demonstrate significant mitigation of human wellbeing degradation in term of cognitive fatigue.","PeriodicalId":132917,"journal":{"name":"2020 IEEE International Conference on Human-Machine Systems (ICHMS)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133039353","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-01DOI: 10.1109/ICHMS49158.2020.9209342
Stephanie Gross, Brigitte Krenn
When aiming at automatic linguistic structure learning, the developed algorithms highly depend on the data they can be trained on. We present several multimodal datasets employed for grounded language learning in artificial agents. Based on evidence on the close tying of motor action and language, we developed the Linguistic, Kinematic and Gaze information in task descriptions Corpus (LKG-Corpus) as a resource to (i) investigate fundamental questions concerning the relation between sensorimotor processes and linguistic structure, and to (ii) develop computational models for grounded language learning in robots. For embodied structure learning, we emphasize the importance of data sets which can be automatically interpreted by the robot and do not need prior knowledge about linguistic structure or actions.
{"title":"The role of corpora for robots’ acquisition of linguistic structure through observation and natural language instructions","authors":"Stephanie Gross, Brigitte Krenn","doi":"10.1109/ICHMS49158.2020.9209342","DOIUrl":"https://doi.org/10.1109/ICHMS49158.2020.9209342","url":null,"abstract":"When aiming at automatic linguistic structure learning, the developed algorithms highly depend on the data they can be trained on. We present several multimodal datasets employed for grounded language learning in artificial agents. Based on evidence on the close tying of motor action and language, we developed the Linguistic, Kinematic and Gaze information in task descriptions Corpus (LKG-Corpus) as a resource to (i) investigate fundamental questions concerning the relation between sensorimotor processes and linguistic structure, and to (ii) develop computational models for grounded language learning in robots. For embodied structure learning, we emphasize the importance of data sets which can be automatically interpreted by the robot and do not need prior knowledge about linguistic structure or actions.","PeriodicalId":132917,"journal":{"name":"2020 IEEE International Conference on Human-Machine Systems (ICHMS)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131214296","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-01DOI: 10.1109/ICHMS49158.2020.9209532
Tao Jiang, Yanhong Ge, Wenfeng Li
Gait analysis provides an effective way for the elderly to monitor abnormal gait, predict fall risk, and evaluate rehabilitation training. The laser range finder mounted on the mobility aids is used to analyze gait characteristics in this paper. The leg data segment recognition method based on Kalman filtering and difference measure is proposed to estimate legs position. The system is developed that detects gait cycle by integrating the zero-point constraint and the crests-based detection method and extracts spatiotemporal gait characteristics. The experimental results demonstrate the effectiveness of the methods.
{"title":"Gait analysis of people relying on mobility aids by using laser range finder","authors":"Tao Jiang, Yanhong Ge, Wenfeng Li","doi":"10.1109/ICHMS49158.2020.9209532","DOIUrl":"https://doi.org/10.1109/ICHMS49158.2020.9209532","url":null,"abstract":"Gait analysis provides an effective way for the elderly to monitor abnormal gait, predict fall risk, and evaluate rehabilitation training. The laser range finder mounted on the mobility aids is used to analyze gait characteristics in this paper. The leg data segment recognition method based on Kalman filtering and difference measure is proposed to estimate legs position. The system is developed that detects gait cycle by integrating the zero-point constraint and the crests-based detection method and extracts spatiotemporal gait characteristics. The experimental results demonstrate the effectiveness of the methods.","PeriodicalId":132917,"journal":{"name":"2020 IEEE International Conference on Human-Machine Systems (ICHMS)","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133285316","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-01DOI: 10.1109/ICHMS49158.2020.9209416
Florencia Garro, Z. McKinney
The brain-computer interface (BCI) field has been growing rapidly, resulting in a wide variety of systems that use different technologies and paradigms to allow interaction between a person and the external world using brain signal responses. The complexity and diversity of BCI-based systems make it difficult to address their usability in a standardized fashion, therefore it is often difficult to correctly identify use-related errors, in order to elaborate robust metrics for improving the system design and to compare it with others. In addition, when a BCI system’s final intended use is a medical application, it must comply with regulatory requirements governing the design process, risk management, and usability assessment in order to be validated and commercialized. Most early-stage BCI designs do not take such requirements into account, which leads to failure in translating functional prototypes into commercial medical devices for further clinical evaluation in advanced stages of the design. This paper proposes a unified framework for usability assessment of BCI design throughout the research and development (R&D) process using a user-centered approach. It focuses on providing a general guideline for BCI for medical applications, considering the risk management process mandatory for medical devices, in which usability is a key aspect for ensuring safety and performance.
{"title":"Toward a Standard User-Centered Design Framework for Medical Applications of Brain-Computer Interfaces","authors":"Florencia Garro, Z. McKinney","doi":"10.1109/ICHMS49158.2020.9209416","DOIUrl":"https://doi.org/10.1109/ICHMS49158.2020.9209416","url":null,"abstract":"The brain-computer interface (BCI) field has been growing rapidly, resulting in a wide variety of systems that use different technologies and paradigms to allow interaction between a person and the external world using brain signal responses. The complexity and diversity of BCI-based systems make it difficult to address their usability in a standardized fashion, therefore it is often difficult to correctly identify use-related errors, in order to elaborate robust metrics for improving the system design and to compare it with others. In addition, when a BCI system’s final intended use is a medical application, it must comply with regulatory requirements governing the design process, risk management, and usability assessment in order to be validated and commercialized. Most early-stage BCI designs do not take such requirements into account, which leads to failure in translating functional prototypes into commercial medical devices for further clinical evaluation in advanced stages of the design. This paper proposes a unified framework for usability assessment of BCI design throughout the research and development (R&D) process using a user-centered approach. It focuses on providing a general guideline for BCI for medical applications, considering the risk management process mandatory for medical devices, in which usability is a key aspect for ensuring safety and performance.","PeriodicalId":132917,"journal":{"name":"2020 IEEE International Conference on Human-Machine Systems (ICHMS)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132459644","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-01DOI: 10.1109/ICHMS49158.2020.9209541
Xiuwen Fu, Xiaolin He, Yongsheng Yang
Network invulnerability is widely considered as one of the main bottlenecks restricting the widespread application of wireless sensor networks (WSNs). Therefore, in this work, we present a 2-D cellular automata model to mimic the failure process of WSNs. In this model, we consider five failure events of sensor nodes (i.e., energy exhaustion, hardware/software malfunctions, intentional attacks, random attacks and isolation from the sink node). The experimental results have shown that the invulnerability of WSNs under random attacks is better than that under intentional attacks. In addition, through composition analysis of failed sensor nodes, we observe that energy exhaustion is mainly responsible for node failures in the case of random attacks. Isolation from the sink node is the main cause of node failures under intentional attacks. The obtained results can provide theoretical guidance to build a more invulnerable WSN.
{"title":"Invulnerability Analysis of Wireless Sensor Networks based on Cellular Automata","authors":"Xiuwen Fu, Xiaolin He, Yongsheng Yang","doi":"10.1109/ICHMS49158.2020.9209541","DOIUrl":"https://doi.org/10.1109/ICHMS49158.2020.9209541","url":null,"abstract":"Network invulnerability is widely considered as one of the main bottlenecks restricting the widespread application of wireless sensor networks (WSNs). Therefore, in this work, we present a 2-D cellular automata model to mimic the failure process of WSNs. In this model, we consider five failure events of sensor nodes (i.e., energy exhaustion, hardware/software malfunctions, intentional attacks, random attacks and isolation from the sink node). The experimental results have shown that the invulnerability of WSNs under random attacks is better than that under intentional attacks. In addition, through composition analysis of failed sensor nodes, we observe that energy exhaustion is mainly responsible for node failures in the case of random attacks. Isolation from the sink node is the main cause of node failures under intentional attacks. The obtained results can provide theoretical guidance to build a more invulnerable WSN.","PeriodicalId":132917,"journal":{"name":"2020 IEEE International Conference on Human-Machine Systems (ICHMS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129575216","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-01DOI: 10.1109/ICHMS49158.2020.9209459
Yuichi Saito, M. Itoh, T. Inagaki
Similar to a manual driver, a human using an automated driving system may experience drowsiness. This can be attributed not only to monotonous environments but also to reduced driver activity. Our concern is how can a system identify the driver’s state (e.g., states of low arousal and degradation of mental and physical functions) without relying on physiological indices while ensuring vehicle safety. In previous study, we have proposed a dual control theoretic approach, which attempts to simultaneously perform vehicular safety control (prevention of lane departure) as well as identification of the driver’s state. The present study applies the proposed approach to partially automated driving systems requiring hands-on driver activity. Sleepy drivers’ behaviors and the safety control actions of the applied system were observed and analyzed through the driving simulator experiment. The experimental results show that the proposed system effectively prevents lane departure in the context of partially automated driving.
{"title":"Effects of Driver Drowsiness on Driving Performance in the Context of Partial Driving Automation Requiring Hands-on-Wheel","authors":"Yuichi Saito, M. Itoh, T. Inagaki","doi":"10.1109/ICHMS49158.2020.9209459","DOIUrl":"https://doi.org/10.1109/ICHMS49158.2020.9209459","url":null,"abstract":"Similar to a manual driver, a human using an automated driving system may experience drowsiness. This can be attributed not only to monotonous environments but also to reduced driver activity. Our concern is how can a system identify the driver’s state (e.g., states of low arousal and degradation of mental and physical functions) without relying on physiological indices while ensuring vehicle safety. In previous study, we have proposed a dual control theoretic approach, which attempts to simultaneously perform vehicular safety control (prevention of lane departure) as well as identification of the driver’s state. The present study applies the proposed approach to partially automated driving systems requiring hands-on driver activity. Sleepy drivers’ behaviors and the safety control actions of the applied system were observed and analyzed through the driving simulator experiment. The experimental results show that the proposed system effectively prevents lane departure in the context of partially automated driving.","PeriodicalId":132917,"journal":{"name":"2020 IEEE International Conference on Human-Machine Systems (ICHMS)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129959406","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-01DOI: 10.1109/ICHMS49158.2020.9209326
Viola Ildikó Matusz, Melinda Rácz, János Rokai, Nikomidisz Eftimiu Jorgosz, Tímea Molnár, Dorina Maráki, I. Ulbert, G. Márton
Eyetracking opens new possibilities for people with physical disabilities, enabling them to explore new ways of communication and interaction with their environment. However, this field of assistive technology is not available to everyone in need and still faces substantial obstacles: high-cost devices for use in real-world environments, difficulty in enhancing the performance of a calibrated system, difficulty in providing a personalized, adaptive setup. The aim of this work is to provide a lightweight, low cost, wireless device with a software performing real-time 2-D gaze prediction in a fixed coordinate system, and the possibility of enhancing performance by recalibration.
{"title":"Head-mounted, wireless eyetracker for real-time gaze prediction utilizing machine-learning","authors":"Viola Ildikó Matusz, Melinda Rácz, János Rokai, Nikomidisz Eftimiu Jorgosz, Tímea Molnár, Dorina Maráki, I. Ulbert, G. Márton","doi":"10.1109/ICHMS49158.2020.9209326","DOIUrl":"https://doi.org/10.1109/ICHMS49158.2020.9209326","url":null,"abstract":"Eyetracking opens new possibilities for people with physical disabilities, enabling them to explore new ways of communication and interaction with their environment. However, this field of assistive technology is not available to everyone in need and still faces substantial obstacles: high-cost devices for use in real-world environments, difficulty in enhancing the performance of a calibrated system, difficulty in providing a personalized, adaptive setup. The aim of this work is to provide a lightweight, low cost, wireless device with a software performing real-time 2-D gaze prediction in a fixed coordinate system, and the possibility of enhancing performance by recalibration.","PeriodicalId":132917,"journal":{"name":"2020 IEEE International Conference on Human-Machine Systems (ICHMS)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131001522","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-01DOI: 10.1109/ICHMS49158.2020.9209506
Yan Fu, Shiqi Li, Kan Qiu, Xue Li, L. Chen, Jie Tan
It is natural and efficient to use natural language for transferring knowledge from a human to a robot. The inconsistency of human-robot spatial cognitive style, the high frequency communication and low-cognition-level symbol matching control have greatly affected the operational efficiency in spatial-cognition-demanding tasks such as positioning and exploring. To fill the knowledge gap, this study applies ACT-R cognitive theory to establish a new way of knowledge representation and processing for the robots with a purpose to improve the flexibility of natural language facilitated humanrobot cooperation. This idea is specifically validated in the task of human-robot teaming space exploration.
{"title":"Language-Facilitated Human-Robot Cooperation within a Human Cognitive Modeling Infrastructure: A Case in Space Exploration Task","authors":"Yan Fu, Shiqi Li, Kan Qiu, Xue Li, L. Chen, Jie Tan","doi":"10.1109/ICHMS49158.2020.9209506","DOIUrl":"https://doi.org/10.1109/ICHMS49158.2020.9209506","url":null,"abstract":"It is natural and efficient to use natural language for transferring knowledge from a human to a robot. The inconsistency of human-robot spatial cognitive style, the high frequency communication and low-cognition-level symbol matching control have greatly affected the operational efficiency in spatial-cognition-demanding tasks such as positioning and exploring. To fill the knowledge gap, this study applies ACT-R cognitive theory to establish a new way of knowledge representation and processing for the robots with a purpose to improve the flexibility of natural language facilitated humanrobot cooperation. This idea is specifically validated in the task of human-robot teaming space exploration.","PeriodicalId":132917,"journal":{"name":"2020 IEEE International Conference on Human-Machine Systems (ICHMS)","volume":"282 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116120183","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-01DOI: 10.1109/ICHMS49158.2020.9209422
F. Sanfilippo, Min Tang, S. Steyaert
In this paper, a survey of the state of the art, challenges, and possibilities for aquatic surface robots is presented. To this end, a survey and classification of aquatic surface robots is first outlined. Then, different levels of autonomy are identified for this typology of robots and categorised into environmental complexity, mission complexity, and external system independence. From this perspective, a step-wise approach is adopted on how to increment aquatic surface robots abilities within guidance, navigation, and control in order to target the different levels of autonomy. Possibilities and challenges for designing aquatic surface robots as carriers for conducting research activities are discussed. The main goal of this paper is to further increase global efforts to realise the wide range of possible applications offered by aquatic surface robots and to provide an up-to-date reference as a benchmark for new research and development in this field.
{"title":"Aquatic Surface Robots: the State of the Art, Challenges and Possibilities","authors":"F. Sanfilippo, Min Tang, S. Steyaert","doi":"10.1109/ICHMS49158.2020.9209422","DOIUrl":"https://doi.org/10.1109/ICHMS49158.2020.9209422","url":null,"abstract":"In this paper, a survey of the state of the art, challenges, and possibilities for aquatic surface robots is presented. To this end, a survey and classification of aquatic surface robots is first outlined. Then, different levels of autonomy are identified for this typology of robots and categorised into environmental complexity, mission complexity, and external system independence. From this perspective, a step-wise approach is adopted on how to increment aquatic surface robots abilities within guidance, navigation, and control in order to target the different levels of autonomy. Possibilities and challenges for designing aquatic surface robots as carriers for conducting research activities are discussed. The main goal of this paper is to further increase global efforts to realise the wide range of possible applications offered by aquatic surface robots and to provide an up-to-date reference as a benchmark for new research and development in this field.","PeriodicalId":132917,"journal":{"name":"2020 IEEE International Conference on Human-Machine Systems (ICHMS)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124501769","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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