This work describes a new human-in-the-loop (HitL) assistive grasping system for individuals with varying levels of physical capabilities. We investigated the feasibility of using four potential input devices with our assistive grasping system interface, using able-bodied individuals to define a set of quantitative metrics that could be used to assess an assistive grasping system. We then took these measurements and created a generalized benchmark for evaluating the effectiveness of any arbitrary input device into a HitL grasping system. The four input devices were a mouse, a speech recognition device, an assistive switch, and a novel sEMG device developed by our group that was connected either to the forearm or behind the ear of the subject. These preliminary results provide insight into how different interface devices perform for generalized assistive grasping tasks and also highlight the potential of sEMG based control for severely disabled individuals.
Not only is the form of input into the system important, but so is the design of the interface. Much work and care must be put into making sure the system is robust to user input and also allows the user to accurately see what is happening in the environment as a result of the system @cite_4 . Because HitL software is so focused on getting accurate input from the user, there is not much room for ambiguity @cite_5 .
@cite_5 @cite_4
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A software system interacts with its environment through interfaces. Improper handling of exceptional returns from system interfaces can cause robustness problems. Robust- ness of software systems are governed by various tempo- ral properties related to interfaces. Static verification has been shown to be effective in checking these temporal prop- erties. But manually specifying these properties is cum- bersome and requires the knowledge of interface specifica- tions, which are often either unavailable or undocumented. In this paper, we propose a novel framework to automati- cally infer system-specific interface specifications from pro- gram source code. We use a model checker to generate traces related to the interfaces. From these model check- ing traces, we infer interface specification details such as return value on success or failure. Based on these inferred specifications, we translate generically specified interface robustness rules to concrete robustness properties verifi- able by static checking. Hence the generic rules can be specified at an abstract level that needs no knowledge of the source code, system, or interfaces. We implement our framework for an existing static analyzer that employs push down model checking and apply the analyzer to the well known POSIX-API system interfaces. We found 28 robust- ness violations in 10 open source packages using our frame- work. The user interface is the central element of a telepresence robotic system and its visualization modalities greatly affect the operator's situation awareness, and thus its performance. Depending on the task at hand and the operator's preferences, going from ego- and exocentric viewpoints and improving the depth representation can provide better perspectives of the operation environment. Our system, which combines a 3D reconstruction of the environment using laser range finder readings with two video projection methods, allows the operator to easily switch from ego- to exocentric viewpoints. This paper presents the interface developed and demonstrates its capabilities by having 13 operators teleoperate a mobile robot in a navigation task. SUMMARY Substantial research in software engineering focuses on understanding the dynamic nature of software systems in order to improve software maintenance and program comprehension. This research typically makes use of automated instrumentation and profiling techniques after the fact, that is, without considering domain knowledge. In this paper, we examine another source of dynamic information that is generated from statements that have been inserted into the code base during development to draw the system administrators' attention to important run-time phenomena. We call this source communicated information (CI). Examples of CI include execution logs and system events. The availability of CI has sparked the development of an ecosystem of Log Processing Apps (LPAs) that surround the software system under analysis to monitor and document various run-time constraints. The dependence of LPAs on the timeliness, accuracy and granularity of the CI means that it is important to understand the nature of CI and how it evolves over time, both qualitatively and quantitatively. Yet, to our knowledge, little empirical analysis has been performed on CI and its evolution. In a case study on two large open source and one industrial software systems, we explore the evolution of CI by mining the execution logs of these systems and the logging statements in the source code. Our study illustrates the need for better traceability between CI and the LPAs that analyze the CI. In particular, we find that the CI changes at a high rate across versions, which could lead to fragile LPAs. We found that up to 70 of these changes could have been avoided and the impact of 15 to 80 of the changes can be controlled through the use of robust analysis techniques by LPAs. We also found that LPAs that track implementation-level CI (e.g. performance analysis) and the LPAs that monitor error messages (system health monitoring) are more fragile than LPAs that track domain-level CI (e.g. workload modelling), because the latter CI tends to be long-lived. Copyright © 2013 John Wiley & Sons, Ltd. In the field of infrastructures’ surveillance and protection, it is important to make decisions based on activities occurring in the environment and its local context and conditions. In this paper we use an active rule based event processing architecture in order to make sense of situations from the combination of different signals received by the rule engine. However obtaining some high level information automatically is not without risks, especially in sensitive environments, and detection mistakes can happen for various reasons: the signal’s source can be defective, whether it is human—miss-interpretation of the signal—or computed—material malfunction; the aggregation rules can be wrong syntaxically, for example when a rule will never be triggered or a situation never detected; the interpretation given to the combination of signals does not correspond to the reality on the field—because the knowledge of the rule designer is subjective or because the environment evolves over-time—the rules are therefore incorrect semantically. In this paper, a new approach is proposed to avoid the third kind of error sources. We present a hybrid machine learning technique adapted to the complexity of the rules’ representation, in order to create a system more conform to reality. The proposed approach uses a combination of an Association Rule Mining algorithm and Inductive Logic Programming for rule induction. Empirical studies on simulated datasets demonstrate how our method can contribute to sensible systems such as the security of a public or semi-public place.