A Human-Robot Visual-Inertial Monitoring System for Discoveries on Safe Human-Autonomy Interactions in Dynamic Environments

人机视觉惯性监测系统，用于发现动态环境中安全的人机自主交互

• 批准号: RTI-2022-00697
• 负责人: Hashemi, Ehsan
• 金额: $ 10.37万
• 依托单位: University of Alberta
• 依托单位国家: 加拿大
• 项目类别: Research Tools and Instruments
• 财政年份: 2021
• 资助国家: 加拿大
• 起止时间: 2021-01-01 至 2022-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=741750
• 关键词: Human; Robot; Visual; Inertial; Monitoring

To develop safe and computationally efficient cooperative controls in highly dynamic environments by enhancing our understanding of human interactive cognition and attention, we are requesting funding to purchase a state-of-the-art human-robot monitoring system. The system includes remote and on-board sensing units and a wireless electroencephalogram (EEG). It will enable studies on interactive cognition for human-autonomy shared control (e.g., in assistive robotics and automated driving) using EEG at 1kHz, and will allow detection (within 200m) and augmented perception through fusion of the LiDAR and radar data at 20 Hz at each unit (i.e., Edge Computing). The integrated monitoring system along with our existing infrastructure is unique to our cross-university team and establishes a world-class test facility for research on cooperative perception and human-autonomy interaction in dynamic environments in Canada. The equipment will leverage +$0.75 million CFI- and NSERC-funded facilities (on mobile robotics and neuroscience), will support +18 HQP, and will enable a diverse cross-university research program addressing scientific and applied challenges in three main Themes: 1) Networked Robotics: Enhance robot navigation for perceptually degraded conditions by designing learning-aided distributed estimators inspired by human attention. 2) Human-centered teleoperation: Develop safe teleoperation of mobile robots/vehicles in dynamic environments by studying operator behavior in such complex scenarios, subject to delay and loss of perception, and by forming cooperative controls around the human intent. The recent partnership between TELUS and the University of Alberta for a 5G-enabled living lab will be leveraged. 3) Assistive robotics: Improve personalization and safety by estimating user intent, exploring interactive cognition (a genuine breakthrough for co-designing learning modules and state observers), and developing situation-aware controls in rollators for users with cognitive impairment. The monitoring system will further enable a host of interdisciplinary research activities to expand infrastructure usage as a core facility, through the current and new faculty members and HQP from control engineering, psychology, and computer science disciplines, to sustain future growth of research activities, and to support Canadian robotic and AI industries. The strong integration of the program with social and cognitive sciences and our established EDI policies will provide strong means for unbiased and equitable hiring in those disciplines. The program will offer strong training to HQP through: advanced theoretical/technical and professional development training and standardized internships. This will promote rigorous methodologies, enhanced research culture, and impactful outcomes in the program. A delay in acquiring such crucial equipment will constrain scientific potentials for the current cross-university projects and will reduce HQP training.

为了通过增强我们对人类互动认知和关注的理解来开发高度动态环境中的安全和计算有效的合作控制，我们要求资金购买最先进的人类机器人监测系统。该系统包括远程和车载传感单元以及无线脑电图（EEG）。它将能够对使用EEG进行1KHz的EEG进行有关人自治共享控制的交互性认知（例如，在辅助机器人和自动驾驶中），并可以通过在每个单元处于20 Hz的激光雷达和辐射数据融合（即，Edge Computing）允许检测（200m之内），并通过融合激光雷达和雷达数据来增强感知。综合监测系统以及我们现有的基础设施是我们的跨大学团队独有的，并建立了一个世界一流的测试设施，用于研究加拿大动态环境中有关合作感和人类自治互动的研究。该设备将利用 +$ 75万美元的CFI-和NSERC资助的设施（在移动机器人和神经科学上），将支持+18 HQP，并将启用各种各样的跨大学研究计划，以解决三个主要主题的科学和应用挑战：1）网络机器人：通过分配启发的启发机器人通过启发性地进行启发的人，并通过启发性地进行了专注。 2）以人为中心的远程运行：通过在这种复杂的情况下研究操作员行为，在动态环境中开发安全的移动机器人/车辆的安全性，视感知的延迟和丧失，并通过围绕人意图形成合作控制。 Telus与艾伯塔大学（University of Alberta）在启用5G生活实验室的最新合作伙伴关系将得到利用。 3）辅助机器人技术：通过估计用户意图，探索交互式认知（对共同设计的学习模块和州观察员的真正突破），并为患有认知障碍的用户的使用者开发情境感控制，来提高个性化和安全性。监测系统将进一步使许多跨学科的研究活动通过当前和新的教职员工以及控制工程，心理学和计算机科学学科的HQP扩大基础设施的使用，以维持研究活动的未来增长，并支持加拿大的Robotic和AI Industries。该计划与社会和认知科学以及我们既定的EDI政策的强烈融合将为这些学科中的公正和公平雇用提供强大的手段。该计划将通过：高级理论/技术和专业发展培训和标准化实习，为HQP提供强大的培训。这将促进严格的方法论，增强的研究文化以及该计划中有影响力的结果。获取此类关键设备的延迟将限制当前跨大学项目的科学潜力，并减少HQP培训。