GUI Graphical User Interface GUI J. Rasumussen K.J. Vicente Ecological Interface Design EID 10), 11) EID 12) GUI Hie
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1 GUI Vol.47, No.12, 656/ Configural Display to Support Position Teaching to Industrial Robot Yukio Horiguchi, Kohei Kurono, Hiroaki Nakanishi, Tetsuo Sawaragi, Tatsuya Nagatani, Akio Noda and Ken ichi Tanaka For the purpose of developing a practical support tool for human workers engaged in industrial robot teaching, the work domain of position teaching is analyzed in terms of means-end relations. In this work domain analysis, a mechanical explanation model is introduced to capture the force-displacement relationship inherent in and thus informative on the work system. The model is utilized for the investigation of the robot operators decisions in search of accurate operation positions and clarifies a basic strategy making use of a characteristic frame of reference in the search space. Based on the analytical results, a prototype display is developed that can provide effective information supports. The display presents the activity-related information in a way that affords the robot operators strategic operations and thus can successfully reduce task time and operational errors in a teaching work. Key Words: online robot teaching, task analysis, work domain analysis, ecological interface design 1. 1) Graduate School of Engineering, Kyoto University, Yoshidahonmachi, Sakyo-ku, Kyoto Advanced Technology R&D Center, Mitsubishi Electric Corporation, Tsukaguchihonmachi, Amagasaki Received April 20, 2011 Revised September 9, ) 4) 5) 6) 8) 2), 7), 8) 9) TR 0012/11/ c 2011 SICE
2 GUI Graphical User Interface GUI J. Rasumussen K.J. Vicente Ecological Interface Design EID 10), 11) EID 12) GUI Hierarchial Task Analysis Hierarchical Task Analysis HTA 1 13) HTA HTA 14) Work Domain Analysis Work Domain Analysis WDA abstraction hierarchy decomposition hierarchy 2 14), 15) 2 Abstraction-Decomposition Space ADS Fig. 1 Basic parts handling operation Rasmussen 5 15) Functional Purpose Abstract Function Generalized Function Physical Function Physical Form means-ends links 16) part-whole links HTA WDA 14) ) Fig HTA HTA Fig. 2
3 658 T. SICE Vol.47 No.12 December 2011 Fig. 2 Hierachy of robot programming task focusing on emplacement position teaching 17) Fig. 2 Fig. 2 1 ( ) P S Fig P S / 4.2 Q R / 4.3 Q R S R S 4.1 P S 3 4 (A) (B) (C) (D) (A) (B) (C) (D) (B) WDA WDA ADS Fig. 3
4 Fig. 3 ADS of operation positions teaching work GUI (C)
5 660 T. SICE Vol.47 No.12 December Fig. 4 MELFA RV-6SL 6 IFS-67M Z Z GUI Fig. 5 A B l X F X Y l M Y /l F Y M X/l l 1 / ) 0 19) Fig. 4 Test environment Fig. 5 Visualization of force exerting on the robot s wrist C
6 Fig. 6 Performances with and without force information Fig. 7 Cantilever model for analysis of position teaching work 3 Z X Y 4 LOW 0.01 mm 0.01 deg GUI 1.0 N 0.15 Nm 40 mm 25 mm 10 µm c GUI 3 3 GUI 1 6 Fig. 6(a) Fig. 6(b) Fig. 6 GUI W/ GUI GUI GUI GUI Fig. 7 h σ θ σ θ F M σ = 1 ( 1 EI 3 Fh3 1 ) 2 Mh2 1 θ = 1 ( 1 ) EI 2 Fh2 + Mh 2 20) E I 2 F =12EI σ h 3 +6EI θ h 2 3 M =6EI σ h +4EI θ 4 2 h σ θ F 3 (3) (4)
7 662 T. SICE Vol.47 No.12 December 2011 Fig. 8 State trajectory in search of an accurate motion point Fig. 9 State trajectory including erroneous operations F =0 M =0 (3)(4) F = M/l l 3(2l h)δ +(3l 2h)θ =0 5 δ-θ 4. 2 Y A X X B Y Fig. 8 Y A (0, 0) A Y A F Y M X 0 Fig. 7 Fig. 5 l Fig. 8 Fig. 8 Fig. 9 Fig. 10 Target position identified as the intersection point of two lines a state trajectory made out 4. 3 h E I δ θ 0 Fig. 5 Fig F =0 M =0 F = M/l (δ, θ) =(0, 0) Fig. 10 F =0 F = M/l X Y A B
8 Fig. 10 X B Y A F =0 F = M/l Fig. 11 Developed GUI F =0 F = M/l Fig. 10 F =0 F = M/l δ-θ 5. GUI GUI GUI 5. 1 GUI GUI Fig. 11 GUI 1 (F X,F Y ) (M Y /l, M X/l) Fig. 5 GUI Fig. 5 GUI F = M/l l F = M/l F =0 F = M/l l F M M/l 1 GUI GUI EID GUI 1 2 GUI GUI PD Physical Display 5. 2 GUI EID PD 2 GUI F X F Y 0.5 N M X M Y 0.05 Nm 3 GUI l l 3
9 664 T. SICE Vol.47 No.12 December Fig. 12 Comparison of teaching performance between EID and PD conditions (**p <0.03) EID PD GUI GUI Fig. 12(a) Fig. 12(b) EID EID t 3% P =1.35% 5. 3 PD GUI EID distributed cognition 21) resources model 22) GUI GUI 19), 23) Fig. 7 GUI GUI GUI GUI 4.1 GUI / 4.2 / 4.3 Fig. 7 GUI 19) NEDO 1 (1999) , 180/185 (1999) /184 (2008) 4 191, 35/40 (2009) , 752/763 (2004) 6 (C ) , 4107/4113 (1999)
10 , 554/562 (2006) N3-04 (2008) 9 9-6, 110/114 (1991) 10 K.J. Vicente and J. Rasmussen: The ecology of humanmachine systems II: Mediating direct perception in complex work domains. Ecological Psychology, 2-3, 207/249 (1990) 11 C.M. Burns and J.R. Hajdukiewicz: Ecological Interface Design, CRC Press (2004) , 35/49 (2008) 13 A. Shepherd: Hierarchical Task Analysis, Taylor&Francis (2000) 14 K.J. Vicente: Cognitive Work Analysis: Toward Safe, Productive, and Healthy Computer-Based Work, Lawrence Erlbaum Assoc Inc (1999) 15 J. Rasmussen: Information Processing and Human- Machine Interaction: An Approach To Cognitive Engineering, North-Holland (1986) 16 J. Rasmussen, A.M. Pejtersen and L.P. Goodstein: Cognitive Systems Engineering, Wiley-Interscience (1994) 17 RV-6S BFP- A8312-D 18 2, (2004) 19 GUI (2010) 20 (1991) 21 E. Hutchins: Cognition in the Wild, The MIT Press (1995) 22 P.C. Wright, R.E. Fields and M.D. Harrison: Analyzing human-computer interaction as distributed cognition: The resources model, Human-Computer Interaction, 15-1, 1/41 (2000) 23 GUI A1-F21 (2010) Human Factors and Ergonomics Society IEEE IEEE IEEE 2006 FA 1987 ( ) 2002 FA 1981 ( )
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THE INSTITUTE OF ELECTRONICS, INFORMATION AND COMMUNICATION ENGINEERS TECHNICAL REPORT OF IEICE. E-mail: {ytamura,takai,tkato,tm}@vision.kuee.kyoto-u.ac.jp Abstract Current Wave Pattern Analysis for Anomaly
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Instability of Aerostatic Journal Bearings with Porous Floating Bush at High Speeds Masaaki MIYATAKE *4, Shigeka YOSHIMOTO, Tomoaki CHIBA and Akira CH
Instability of Aerostatic Journal Bearings with Porous Floating Bush at High Speeds Masaaki MIYATAKE *4, Shigeka YOSHIMOTO, Tomoaki CHIBA and Akira CHIBA Department of Mechanical Engineering, Tokyo University
"lmportance of Community Work Function in Care-management Practice" OWADA Takesi The essence of care-management and the duty of care manag:ers are to support home care with making fu1i use of the social
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1,a) 2,b) 4,c) 3,d) 4,e) Web A Review Supporting System for Whiteboard Logging Movies Based on Notes Timeline Taniguchi Yoshihide 1,a) Horiguchi Satoshi 2,b) Inoue Akifumi 4,c) Igaki Hiroshi 3,d) Hoshi
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Mover Design and Performance Analysis of Linear Synchronous Reluctance Motor with Multi-flux Barrier Masayuki Sanada, Member, Mitsutoshi Asano, Student Member, Shigeo Morimoto, Member, Yoji Takeda, Member
A Study on Throw Simulation for Baseball Pitching Machine with Rollers and Its Optimization Shinobu SAKAI*5, Yuichiro KITAGAWA, Ryo KANAI and Juhachi
A Study on Throw Simulation for Baseball Pitching Machine with Rollers and Its Optimization Shinobu SAKAI*5, Yuichiro KITAGAWA, Ryo KANAI and Juhachi ODA Department of Human and Mechanical Systems Engineering,
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1,a) 1 1,b) 1,c) 1,d) Interaction Design for Communication Between Older Adults and Their Families Using Channel-Oriented Interface Takeda Keigo 1,a) Ishiwata Norihiro 1 Nakano Teppei 1,b) Akabane Makoto
17 Proposal of an Algorithm of Image Extraction and Research on Improvement of a Man-machine Interface of Food Intake Measuring System
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1 2 3 A projection-based method for interactive 3D visualization of complex graphs Masanori Takami, 1 Hiroshi Hosobe 2 and Ken Wakita 3 Proposed is a new interaction technique to manipulate graph layouts
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DEIM Forum 2011 E9-4 252-0882 5322 252-0882 5322 E-mail: t09651yt, sashiori, kiyoki @sfc.keio.ac.jp CBIR A Meaning Recognition System for Sign-Logo by Color-Shape-Based Similarity Computations for Images
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DEIM Forum 2011 B7-4 252-0882 5322 E-mail: {t08099ai, kurabaya, kiyoki}@sfc.keio.ac.jp A Music Search Database System with a Selector for Impressive-Sections of Continuous Data Aya ICHINOSE Shuichi KURABAYASHI
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1,a) 2,b) 3 24 3 (1) (2) (3) Development of Mobile Multilingual Medical Communication Support System and Its Introduction for Medical Field Shun Ozaki 1,a) Takashi Yoshino 2,b) Aguri Shigeno 3 Abstract:
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1 1 1, Extraction of Transmitted Light using Parallel High-frequency Illumination Kenichiro Tanaka 1 Yasuhiro Mukaigawa 1 Yasushi Yagi 1 Abstract: We propose a new sharpening method of transmitted scene
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Development of Automation Technology for Precision Finishing Works Employing a Robot Arm There is demand for the automation of finishing processes that require technical skills in the manufacturing of
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Practicing Persona Method to Clarify the Target User - Investigating Utilization of a Blog Service for Communities - UCD(User-Centered Design) UCD UCD UCD () UCD Abstract User-centered design (UCD) is
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1,a) 2 zabbix Consideration of a system to support understanding of fault occurrences based on the similarity of the time series Miyaza Nao 1,a) Masuda Hideo 2 Abstract: With the development of network
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Technology to Manage Indoor Locations 奥山敏 森信一郎 小川晃弘 あらまし ICT GPS GPS Abstract Smart devices and wireless networks have become widespread and an environment is gradually being put in place in which information
The Japanese Journal of Experimental Social Psychology. 2002, Vol. 41, No. 2, 155-164 V. 1986 An introduction to human memory. Routledge & Kegan Paul.) Hay, D. C., & Young, A. W. 1982 The human
A Feasibility Study of Direct-Mapping-Type Parallel Processing Method to Solve Linear Equations in Load Flow Calculations Hiroaki Inayoshi, Non-member
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IPSJ SIG Technical Report Vol.2014-GN-90 No.16 Vol.2014-CDS-9 No.16 Vol.2014-DCC-6 No /1/24 1,a) 2,b) 2,c) 1,d) QUMARION QUMARION Kinect Kinect
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Applicability of Notinal Load - Plastic Hinge Analysis to Structural Design of Steel Frames ABSTRACT ; Plastic hinge method inherently assumes the elastic-perfectly plastic momentcurvature relation which
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Fundamentals of Projector-Camera Systems and Their Calibration Methods Takayuki OKATANI To make the images projected by projector s appear as desired, it is e ective and sometimes an only choice to capture
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Network programming with Visual Basic and its application to social psychology Creating of network games to understand social dilemmas Hiroyuki HISAMOTO Abstract It was explained that the basic method
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Analysis and Improvement of Digital Control Stability for Master-Slave Manipulator System Koichi YOSHIDA* and Tetsuro YABUTA* Some bilateral controls of master-slave system have been designed, which can
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Vol. 49 No. 3 Mar. 2008 Web 1 2 PC Web Web Windows Web Access Watchdog Systems for Children Protection Tatsumi Ueda 1 and Yoshiaki Takai 2 For today s children, the Internet is one of the most familiar
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Remote Hand Clapping Transmission Using Hand Clapping Machines on Live Video Streaming Masato Takahashi, Yuto Kumon,ShuheyTakeda and Masahiko Inami Abstract We propose a remote transmission system of hand
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