Jientrakul, Ranon
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Item type:Publication, Multiple-performance optimization for human-robot collaboration: A translation motion in a tele-sandblasting maintenance system(2016-01-01); ; ; Limnararat, SunpasitHuman-robot collaboration is a vital part of teleoperation systems. Determining the design parameters satisfying the optimal human performance is very important in the design of a teleoperation system for a specific task. Specifically, to thoroughly represent human performance for a task, multiple performance measures in a teleoperation system are evaluated. The experiment was also conducted on a mixed-reality tele-sandblasting system which is setup to study 2D-motion translation in tele-sandblasting task. Then, identifying the design setting to satisfy the optimal measures are difficult due to conflicts among them. Therefore, this paper presents a multipleperformance optimization using a desirability function. The results provide the range of setting condition promoting the optimal human performance measures. © IEOM Society International. - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Minimizing multi-stage system variation using Kalman filter for a tele-sandblasting system(2016-10-20); In teleoperation systems which generally require human-robot collaboration to operate the tasks, task performances suffer from uncontrollable factors, i.e., human skills, time delay, and robot movement errors. To incorporate with this situation, the system must be designed to withstand those factors' effects. Recently, system robustness has become an essential issue for designing manufacturing systems. In this paper, we present a robust design to control the variation for multi-stage tele-sandblasting system. The objective is to locate the sandblasting nozzle at desired positions while minimizing system variation. A multi-stage variation estimation model with Kalman filter is proposed to estimate and control the system variation over time. The results show that our approach significantly decreases tele-sand blasting system variation.