JSO Aerial Robotics Human-System integration in robotics design

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2 JSO Aerial Robotics Human-System integration in robotics design Human System Interaction Team Systems Control and Flight Dynamics Department

3 Human-system integration Technological system Human capabilities To allow to a person a sensorimotor and cognitive activity in a technological world, numerically and mechanically designed, that can be a simulation of some aspects of the real world (adapted from Fuchs, 1996) The human is in the centre of the technological system since it is adressed to him 3

4 Senses Anthropocentric approach of Interaction An anthropocentric approach (i.e., human centered) of the human interaction with the technological system as he has to experience it as a user. Technological environment Sensory interfaces Motor interfaces Nervous systems Muscles Sensory interfaces Motor interfaces Technological environment 4

5 Human Centred Design: Advantages and Limits

6 Human Centred Design: Advantages and Limits Three main needs: Models, Simulation means, Objective measures Experiments: Hybrid Simulation Acquisition and analyze tools Simulation Means Sensorimotor and Cognitive models

7 Human System Interaction Prototyping means for human-system interactions Methods and tools for the analysis of biological data Modeling of human activity and the cognitive functions Innovative interaction concepts Prototype and evaluate in piloted simulation Measure of behavioral and brain variables. Characterization of situation awareness and workload Civil and military operations Hybrid Simulation

8 Simulation: LABSIM Composition The LABSIM is the aggregation of all the real time simulation tools of the ONERA Salon-De-Provence. Composition : Pilot-System Interaction Laboratory (LIPS) Bench for Prototyping and Conception of Systems for Helicopters (PycsHel) Fast Real Time Prototyping System for command laws -> dspace LIPS et PycsHel can be interconnected. LIPS is connected to ONERA s BattleLab through the HLA protocol.

studies It allows the interaction of up to

9 LIPS : presentation This laboratory is used for the human-system interaction studies It allows the interaction of up to 10 operators (ATC s, pilots, UAV payload operators, UAV pilots, ) in a complex scenario with up to 128 vehicles Allows to study the interactions between the operators and the systems or between the different operators

LIPS : UAV Simulation UAV Control UAV Payload

payload control Screen for tactical situation

10 LIPS : UAV Simulation UAV Control UAV Payload UAV front camera with specific HUD Automatic pilot control touch screen Payload camera Flybox for payload controls HUD dedicated for payload control Screen for tactical situation and navigation Screen for tactical situation and navigation

11 acceleration Data acquisition Behaviour: Kinematics, kinetics Head tracking: OptiTrack V120 Trio EMG EEG Pattern location Time Optitrack Flex 13 Time-Fz analizis Speed Co-activation Eye Tracking: Smart Eye Pro Biopac EEG position Inactivation Principle ECG GSR

Specification of haptic functions in active devices What cost function do we optimize to coordinate the many more degrees of freedom than necessary to fulfill a specific motor goal?

12 Specification of haptic functions in active devices What cost function do we optimize to coordinate the many more degrees of freedom than necessary to fulfill a specific motor goal? Simulated environment : medio - lateral position of the UGV (x), longitudinal position of the t UGV Specification of haptic control laws System of 68 optoelectronic cameras Optitrack for kinematics recordings of angular motion Electromyographic System BioPack : BR: supination PT: pronation ECU: adduction ECR: abduction Publications in: IEEE Transactions in Neural Networks (2011), Journal of Motor Behaiour (2014), Ergonomics (2014)

Science of Agency in the characterisation of the out of the loop phenomenon automation: the out of the loop problem The registration that we are causally responsible for the action and its direct

, 2008) Intended state Inverse Model Command Efference Copy Forward Model Predicted State Sense of Agency matching Priority Consistancy Exclusivity Sense of Agency Intention Illusory causal link

13 Science of Agency in the characterisation of the out of the loop phenomenon automation: the out of the loop problem The registration that we are causally responsible for the action and its direct effects (Synofzik & al., 2008) Intended state Inverse Model Command Efference Copy Forward Model Predicted State Sense of Agency matching Priority Consistancy Exclusivity Sense of Agency Intention Illusory causal link Action Action Actual State Comparator non-conscious cause of think non-conscious cause of action Automation/Agency relation (UCL) Application of the angency paradigms to highlight the impact of different levels of automation on the control of the system Latency/Agency relation (DSO) Application of the identified principles that determine the mechanism of agency to compensate the effect latency on the control of the payload Publications in AerospaceLab (2012), PLoS ONE (2012), LNCS (2013)

14 Conclusion Summary Models and understandings of the sensorimotor and cognitive processes in control tasks Simulation developments, robotics and devices integration Physiological measurements: integration of neuroscience tools and concepts in the field of ergonomy Neuroergonomy Related projects at Onera Projet SCHEME (Carnot ANR) PR SATIE (Onera)

ROBOTICS ENG YOUSEF A. SHATNAWI INTRODUCTION

ROBOTICS ENG YOUSEF A. SHATNAWI INTRODUCTION ROBOTICS INTRODUCTION THIS COURSE IS TWO PARTS Mobile Robotics. Locomotion (analogous to manipulation) (Legged and wheeled robots). Navigation and obstacle avoidance algorithms. Robot Vision Sensors and