measuring the allocation of control in a 6 degree-of-freedom.pptVIP

Measuring the Allocation of Controlin a 6 Degree-of-Freedom Docking Experiment Maurice R. Masliah and Paul Milgram Ergonomics in Teleoperation and Control (ETC) Lab Department of Mechanical and Industrial Engineering University of Toronto, Ontario, Canada, M5S 3G8 http://etclab.rose.utoronto.ca {moman, milgram}@etclab.mie.utoronto.ca Motivation Overview Measures/definitions of performance metrics The M-metric Hypothesis for 6 DOF docking tasks 6 DOF docking experiment Results using the M-metric and discussion Shortcomings / Future Work of the M-metric Hypothetical Trajectories : 2 DOF Measures/Definitions of Coordination time-on-target (“not very suitable” [Poulton ‘74]) accuracy ? speed [Behbehani et al. ‘88] spatial or temporal invariance [Morrison Newell ‘98] cross-correlations [Vereijken et al. ‘92, Zhai et al. ‘96] integrality [Jacob et al. ‘94] inefficiency [Zhai Milgram ‘98] Integrality vs. Inefficiency Integrality is a measure of simultaneity (in the time domain) Inefficiency is a measure of distance traversed (in the space domain) The M-metric Measures the allocation of control across DOFs “Control” = any movement which reduces error “Error” = the difference between the goal position and the current position M-metric = (control simultaneity) × (control efficiency) Definition of Control Simultaneity Control Efficiency Efficiency =the weighted average of the ratios of the length of the “optimal” trajectory for each DOF divided by the actual trajectory M-metric: Primary Features measures the allocation of control = simultaneity ? efficiency values between 0 and 1 computed for any number of DOFs (? 2) (also subsets of the total available DOFs) computed across DOFs encompassing different measurement units (cm, degrees) Hypothesis for 6 DOF docking tasks Non-equal allocation of control across DOFs Novices will allocate their control between translation and rotation DOFs will switch control back and forth As expertise develops: will conti