Coherent movement of error-prone individuals through mechanical coupling.

We investigate how reliable movement can emerge in aggregates of highly error-prone individuals. The individuals-robotic modules-move stochastically using vibration motors. By coupling them via elastic links, soft-bodied aggregates can be created. We present distributed algorithms that enable the aggregates to move and deform reliably. The concept and algorithms are validated through formal analysis of the elastic couplings and experiments with aggregates comprising up to 49 physical modules-among the biggest soft-bodied aggregates to date made of autonomous modules. The experiments show that aggregates with elastic couplings can shrink and stretch their bodies, move with a precision that increases with the number of modules, and outperform aggregates with no, or rigid, couplings. Our findings demonstrate that mechanical couplings can play a vital role in reaching coherent motion among individuals with exceedingly limited and error-prone abilities, and may pave the way for low-power, stretchable robots for high-resolution monitoring and manipulation.

Worker satisfaction with adaptive automation and working conditions: a theoretical model and questionnaire as an assessment tool.

This article focuses on methods and tools to measure worker satisfaction with reference to industrial automation. Despite technological advances in automation, the role of human workers on industrial shop floors remains crucial. To promote humans' roles, production systems should be designed and organized so workers are valued and get satisfactory jobs. The article presents a novel holistic model of worker satisfaction with adaptive automation and working conditions. The model takes into account psychosocial and physical working conditions and the characteristics of the automation system the worker interacts with and its user interface. We propose a questionnaire to be used as a practical tool to assess worker satisfaction with industrial automation, considering also the case of adaptive automation. The proposed version of the questionnaire is the result of pilot testing carried out among shop floor operators and takes into account adjustments derived from end-user feedback.

The Index of Cognitive Activity - Eligibility for task-evoked informational strain and robustness towards visual influences.

Various researchers have proposed pupillometric indicators to assess a person's cognitive strain. However, to distinguish the variation of pupil light response from psychosensory pupil response in experimental field conditions is a challenge. The Index of Cognitive Activity (ICA) addresses this problem by wavelet separation. This research investigates the ICA's sensitivity for multiple level task-evoked cognitive activity and visual influences concerning informational work tasks. Objective and subjective measures assessed cognitive strain of participants (N = 22) during various tasks. In a first experiment, mental arithmetic tasks were used to induce different levels of cognitive activity. In a second experiment, influences of screen polarity and presentation of information were investigated (N = 18). The results indicate that eye metrics are rarely sensitive to slight variations in task difficulty. Moreover, the ICA is likely to be sensitive towards constant screen illumination and shows tendencies regarding changes in displayed information. Possible ramifications for the objective assessment of cognitive strain are discussed.

Coordinated Dynamic Behaviors for Multirobot Systems With Collision Avoidance.

In this paper, we propose a novel methodology for achieving complex dynamic behaviors in multirobot systems. In particular, we consider a multirobot system partitioned into two subgroups: 1) dependent and 2) independent robots. Independent robots are utilized as a control input, and their motion is controlled in such a way that the dependent robots solve a tracking problem, that is following arbitrarily defined setpoint trajectories, in a coordinated manner. The control strategy proposed in this paper explicitly addresses the collision avoidance problem, utilizing a null space-based behavioral approach: this leads to combining, in a non conflicting manner, the tracking control law with a collision avoidance strategy. The combination of these control actions allows the robots to execute their task in a safe way. Avoidance of collisions is formally proven in this paper, and the proposed methodology is validated by means of simulations and experiments on real robots.

Decentralized Estimation and Control for Preserving the Strong Connectivity of Directed Graphs.

In order to accomplish cooperative tasks, decentralized systems are required to communicate among each other. Thus, maintaining the connectivity of the communication graph is a fundamental issue. Connectivity maintenance has been extensively studied in the last few years, but generally considering undirected communication graphs. In this paper, we introduce a decentralized control and estimation strategy to maintain the strong connectivity property of directed communication graphs. In particular, we introduce a hierarchical estimation procedure that implements power iteration in a decentralized manner, exploiting an algorithm for balancing strongly connected directed graphs. The output of the estimation system is then utilized for guaranteeing preservation of the strong connectivity property. The control strategy is validated by means of analytical proofs and simulation results.