Matching Items (40)
Description
Humans and robots need to work together as a team to accomplish certain shared goals due to the limitations of current robot capabilities. Human assistance is required to accomplish the tasks as human capabilities are often better suited for certain tasks and they complement robot capabilities in many situations. Given the necessity of human-robot teams, it has been long assumed that for the robotic agent to be an effective team member, it must be equipped with automated planning technologies that helps in achieving the goals that have been delegated to it by their human teammates as well as in deducing its own goal to proactively support its human counterpart by inferring their goals. However there has not been any systematic evaluation on the accuracy of this claim.
In my thesis, I perform human factors analysis on effectiveness of such automated planning technologies for remote human-robot teaming. In the first part of my study, I perform an investigation on effectiveness of automated planning in remote human-robot teaming scenarios. In the second part of my study, I perform an investigation on effectiveness of a proactive robot assistant in remote human-robot teaming scenarios.
Both investigations are conducted in a simulated urban search and rescue (USAR) scenario where the human-robot teams are deployed during early phases of an emergency response to explore all areas of the disaster scene. I evaluate through both the studies, how effective is automated planning technology in helping the human-robot teams move closer to human-human teams. I utilize both objective measures (like accuracy and time spent on primary and secondary tasks, Robot Attention Demand, etc.) and a set of subjective Likert-scale questions (on situation awareness, immediacy etc.) to investigate the trade-offs between different types of remote human-robot teams. The results from both the studies seem to suggest that intelligent robots with automated planning capability and proactive support ability is welcomed in general.
In my thesis, I perform human factors analysis on effectiveness of such automated planning technologies for remote human-robot teaming. In the first part of my study, I perform an investigation on effectiveness of automated planning in remote human-robot teaming scenarios. In the second part of my study, I perform an investigation on effectiveness of a proactive robot assistant in remote human-robot teaming scenarios.
Both investigations are conducted in a simulated urban search and rescue (USAR) scenario where the human-robot teams are deployed during early phases of an emergency response to explore all areas of the disaster scene. I evaluate through both the studies, how effective is automated planning technology in helping the human-robot teams move closer to human-human teams. I utilize both objective measures (like accuracy and time spent on primary and secondary tasks, Robot Attention Demand, etc.) and a set of subjective Likert-scale questions (on situation awareness, immediacy etc.) to investigate the trade-offs between different types of remote human-robot teams. The results from both the studies seem to suggest that intelligent robots with automated planning capability and proactive support ability is welcomed in general.
ContributorsNarayanan, Vignesh (Author) / Kambhampati, Subbarao (Thesis advisor) / Zhang, Yu (Thesis advisor) / Cooke, Nancy J. (Committee member) / Fainekos, Georgios (Committee member) / Arizona State University (Publisher)
Created2015
Description
Facilities Management (FM) around the globe at different companies in different industries are often forced to make difficult decisions on whether or not to transition a workplace environment and how to decide what factors of a workplace environment can benefit or hinder a company's productivity. The data and research presented within this paper are targeted at aiding and educating FM in determining what factors to consider in a workplace transition to an open-seating design and validate the importance of recognizing how these factors impact the productivity of the individual and the organization. Data contained in this paper was gathered through two different survey samples: 1) a semiconductor company that transitioned its employees from cubicles and offices to an open-seating environment; and 2) a general study open to professionals and their experiences and opinions on workplace environments. This data was used to validate or disprove the views on open-seating workspace held by the FM industry today. Data on the topic of how employees react to being transitioned to open-seating environments and looking at the breakdown of the results between engineers and non-engineers is examined within this research. Also covered within the research is data on transitions to other seating environments outside of open-seating concepts to evaluate and compare transition types. Lastly, data was gathered and discussed on the amount of time needed to adapt after a transition and what environment types were linked to being the most productive. This research provides insight on workplace environments and transitions and how they have an impact on productivity and can be used in the decision process when considering transitioning environments.
ContributorsThalin, William (Author) / Sullivan, Kenneth (Thesis advisor) / Smithwick, Jake (Committee member) / Stone, Brian (Committee member) / Arizona State University (Publisher)
Created2017
Description
The construction industry has been growing over the past few years, but it is facing numerous challenges, related to craft labor availability and declining productivity. At the same time, the industry has benefited from computational advancements by leveraging the use of Building Information Modeling (BIM) to create information rich 3D models to enhance the planning, designing, and construction of projects. Augmented Reality (AR) is one technology that could further leverage BIM, especially on the construction site. This research looks at the human performance attributes enabled using AR as the main information delivery tool in the various stages of construction. The results suggest that using AR for information delivery can enhance labor productivity and enable untrained personnel to complete key construction tasks. However, its usability decreases when higher accuracy levels are required. This work contributes to the body of knowledge by empirically testing and validating the performance effects of using AR during construction tasks and highlights the limitations of current generation AR technology related to the construction industry. This work serves as foundation of future industry-based AR applications and research into potential AR implementations.
ContributorsChalhoub, Jad M (Author) / Ayer, Steven K. (Thesis advisor) / Ariaratnam, Samuel T. (Committee member) / Atkinson, Robert K. (Committee member) / Arizona State University (Publisher)
Created2019
Description
Abstract Older adults and people with disabilities are two unique populations, though they intersect in their need for mobility options that are often not met by traditional transportation services. There is consensus that the government should provide assistance for older adults and people with disabilities to achieve and maintain independence. However, the challenge lies in addressing the many forms of mobility inequity. Population projections for the twenty-first century have sparked interest in the rights of these two populations. As the population of the United States of America ages, supporting the mobility of seniors and individuals with disabilities will become imperative to maintaining their quality of life. One existing federal grant, Section 5310: Enhanced Mobility for Seniors and Individuals with Disabilities (49 U.S.C. 5310) provides formula funding for services that provide transportation options to older adults and people with disabilities. While the 5310 program provides crucial funding to non-profits and government agencies to support mobility options for older adults and people with disabilities, it does not address the full scope of mobility issues faced by these two communities. This thesis project provides a thorough analysis of this grant from the federal legislation it is founded on, to the local administration of this grant as applied by the Maricopa Association of Governments (MAG). Finally, this thesis looks at emerging technology with the potential to revolutionize mobility, along with sobering historical context of the barriers faced older adults and people with disabilities.
ContributorsValencia, Martin J. (Author) / Kelley, Jason (Thesis director) / Voorhees, Matthew (Committee member) / School of Sustainability (Contributor) / School of Geographical Sciences and Urban Planning (Contributor) / Barrett, The Honors College (Contributor)
Created2018-05
Description
The following creative project was a two part study regarding the wedding and event planning industry. Part one consisted of planning and executing an event followed by an analysis of the event in terms of strengths, weaknesses, and customer feedback. Part two consisted of evaluating a potential wedding planning company by the standards of the Business Model Canvas Method. The overall goal of this project was to determine if I would be pursuing a career as an independent wedding and event consultant or exploring other career options based on the research conducted and which option would be best aligned with my desires and career aspirations.
ContributorsHawbaker, Christina Elizabeth (Author) / Peck, Sidnee (Thesis director) / LePine, Marcie (Committee member) / Barrett, The Honors College (Contributor) / Department of Marketing (Contributor) / W. P. Carey School of Business (Contributor) / Department of Management (Contributor)
Created2013-12
Description
As the frequency of US-based disasters increases, so does the need for effective governmental contingency planning and improvement. The current, external evaluation method presents several opportunities for improvement, including cost, efficacy of results, and turnaround time for results. Utilizing a tabletop exercise as it's model, this study designed a self-evaluation tool to test if the data provided by such a tool is similar to the data provided by an external evaluator. After testing it in a government-sanctioned tabletop exercise, the tool showed its ability to be utilized in an exercise and evaluate the participants, based off their perceived success in the exercise. The results of the study indicate a strong, positive correlation between the results of the participant and evaluator populations surveyed as well as statistical equality between the two groups.
ContributorsEisen, Bryan Matthew (Author) / Hristovski, Kiril (Thesis director) / Ulrich, Jon (Committee member) / Gibbons, Sheri (Committee member) / Environmental and Resource Management (Contributor, Contributor) / Barrett, The Honors College (Contributor)
Created2017-05
Description
At Arizona State University (ASU), there is a perceived lack of interdisciplinary symposiums for student presenters and a lack of understanding about the university's "#1 in Innovation" title awarded by U.S. News & World report. In addition, ASU focuses on advertising innovation in a few select fields, such as astronomy and space exploration. To address these issues, a team of Lincoln Undergraduate Scholars planned an Ethics & Innovation Symposium with the theme of "Defining Our Future" for April 11, 2018. I chose to conduct a post-event analysis of logistics, successes, and failures. This additional evaluation was meant to serve as a measure of the symposium's sustainability for future years. This thesis addresses the methods of event planning (incl. marketing, gathering student presenters, catering, room reservation), results, and analysis of outcomes specifically for the Ethics & Innovation Symposium. Overall, the thesis document will benefit anyone interested in planning some event at the university level. Additional reference documents are included in this report to provide help with creating a general checklist, developing marketing deliverables, and contacting university departments/organizations.
ContributorsJagadish, Ishitha (Author) / Coursen, Jerry (Thesis director) / Kenney, Sean (Committee member) / O'Neil, Erica (Committee member) / Harrington Bioengineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2018-12
Description
Despite incremental improvements over decades, academic planning solutions see relatively little use in many industrial domains despite the relevance of planning paradigms to those problems. This work observes four shortfalls of existing academic solutions which contribute to this lack of adoption.
To address these shortfalls this work defines model-independent semantics for planning and introduces an extensible planning library. This library is shown to produce feasible results on an existing benchmark domain, overcome the usual modeling limitations of traditional planners, and accommodate domain-dependent knowledge about the problem structure within the planning process.
To address these shortfalls this work defines model-independent semantics for planning and introduces an extensible planning library. This library is shown to produce feasible results on an existing benchmark domain, overcome the usual modeling limitations of traditional planners, and accommodate domain-dependent knowledge about the problem structure within the planning process.
ContributorsJonas, Michael (Author) / Gaffar, Ashraf (Thesis advisor) / Fainekos, Georgios (Committee member) / Doupe, Adam (Committee member) / Herley, Cormac (Committee member) / Arizona State University (Publisher)
Created2016
Description
Robots are becoming an important part of our life and industry. Although a lot of robot control interfaces have been developed to simplify the control method and improve user experience, users still cannot control robots comfortably. With the improvements of the robot functions, the requirements of universality and ease of use of robot control interfaces are also increasing. This research introduces a graphical interface for Linear Temporal Logic (LTL) specifications for mobile robots. It is a sketch based interface built on the Android platform which makes the LTL control interface more friendly to non-expert users. By predefining a set of areas of interest, this interface can quickly and efficiently create plans that satisfy extended plan goals in LTL. The interface can also allow users to customize the paths for this plan by sketching a set of reference trajectories. Given the custom paths by the user, the LTL specification and the environment, the interface generates a plan balancing the customized paths and the LTL specifications. We also show experimental results with the implemented interface.
ContributorsWei, Wei (Author) / Fainekos, Georgios (Thesis advisor) / Amor, Hani Ben (Committee member) / Zhang, Yu (Committee member) / Arizona State University (Publisher)
Created2016
Description
Automated planning addresses the problem of generating a sequence of actions that enable a set of agents to achieve their goals.This work investigates two important topics from the field of automated planning, namely model-lite planning and multi-agent planning. For model-lite planning, I focus on a prominent model named Annotated PDDL and it's related application of robust planning. For this model, I try to identify a method of leveraging additional domain information (available in the form of successful plan traces). I use this information to refine the set of possible domains to generate more robust plans (as compared to the original planner) for any given problem. This method also provides us a way of overcoming one of the major drawbacks of the original approach, namely the need for a domain writer to explicitly identify the annotations.
For the second topic, the central question I ask is ``{\em under what conditions are multiple agents actually needed to solve a given planning problem?}''. To answer this question, the multi-agent planning (MAP) problem is classified into several sub-classes and I identify the conditions in each of these sub-classes that can lead to required cooperation (RC). I also identify certain sub-classes of multi-agent planning problems (named DVC-RC problems), where the problems can be simplified using a single virtual agent. This insight is later used to propose a new planner designed to solve problems from these subclasses. Evaluation of this new planner on all the current multi-agent planning benchmarks reveals that most current multi-agent planning benchmarks only belong to a small subset of possible classes of multi-agent planning problems.
For the second topic, the central question I ask is ``{\em under what conditions are multiple agents actually needed to solve a given planning problem?}''. To answer this question, the multi-agent planning (MAP) problem is classified into several sub-classes and I identify the conditions in each of these sub-classes that can lead to required cooperation (RC). I also identify certain sub-classes of multi-agent planning problems (named DVC-RC problems), where the problems can be simplified using a single virtual agent. This insight is later used to propose a new planner designed to solve problems from these subclasses. Evaluation of this new planner on all the current multi-agent planning benchmarks reveals that most current multi-agent planning benchmarks only belong to a small subset of possible classes of multi-agent planning problems.
ContributorsSreedharan, Sarath (Author) / Kambhampati, Subbarao (Thesis advisor) / Zhang, Yu (Thesis advisor) / Ben Amor, Heni (Committee member) / Arizona State University (Publisher)
Created2016