外文翻译-动态虚拟和真实机器人对感知的安全等待时间和机械手最大工作半径的影响.doc

1、毕 业 设 计（论 文）外 文 参 考 资 料 及 译 文译文题目： 微型装配机械手的结构设计 学生姓名： 学 号： 专 业： 所在学院： 指导教师： 职 称： 20xx年 2月 27日Impact of dynamic virtual and real robots on perceived safe waiting time and maximum reach of robot arms Parry P.W. , Vincent G. and Gulcin School of Industrial Engineering and Engineering Management, The Ho

2、ng Kong University of Science and Technology,Clear Water Bay, Kowloon, Hong Kong SAR, China; School of Industrial Engineering, Purdue University, West Lafayette,Indiana, USA; Regenstrief Center for Healthcare Engineering, Purdue University, West Lafayette, Indiana, USA; School of Agricultural and Bi

3、ological Engineering, Purdue University, West Lafayette, Indiana, USA; School of Industrial Engineering, Istanbul Technical University, Istanbul, Turkey (Final version received February 2011) This research examines perception of dynamic objects and robots in a virtual and real industrial work enviro

4、nment. The studies are modelled after those of Karwowski and Rahimi from the early 1990s. By applying virtual reality technology, the real workplace can be simulated in the virtual world for theimprovement of facility design. Perception of hazard and risk, safe waiting time, maximum reach of robot a

5、rm are measured related to the impact of parameters such as robot size, speed and type and exposure to a virtual accident. Analysis includes techniques such as sequential experiments to compare results in the virtual and real environments. These methods may be considered as a model for studying perc

6、eption and transfer in other domains. The comparison of the analysed data in the virtual and real environments helps to further determinethe transferability of performance and perception from virtual reality to real. Results show similarity in perceived safe waiting time, but there are large differe

7、nces in perceived maximum reach of robot arms between the virtual and real environments. Using the preliminary results from the integrated data in the sequential experiments, potential guidelines for using virtual facility layout in industry are discussed. Keywords: humanrobot interaction; perceptio

8、n of hazard and risk; maximum reach of robot arms; sequential experiment; data bridging1. IntroductionMany industrial companies utilise industrial robots to perform dangerous tasks in industry to avoid possible hazards. Still, others are attempting to reduce musculoskeletal disorders through the use

9、 of hybrid automation such as assist devices (Nussbaum 2000). According to the World Robotics 2007 published by Union Nations Economic Commission from Europe (www.euron.org), there were approximately 951,000 units in 2006 and it is expected to be1,200,000 units in 2010 (Table 1). Since the robots ar

10、e used more frequently in workplaces, issues related to humanrobot interaction (HRI) are more often considered by researchers and practitioners. According to Dhillon et al.(2002) survey, 523 papers about robot safety and reliability were published between 1973 and 2000. Most of this research was don

11、e between1982 and 1990, and robot safety and reliability research has been incrementally decreased since 1986 (Dhillon et al.2002). On the other hand, between 1995 and 2000, multidisciplinary research in HRI has been more recently started by the collaboration of researchers from human factors, robot

12、ics, cognitive science, psychology and naturallanguage, and during that time many conferences and workshops were dedicated to HRI such as IEEE International Symposium on Robot and Human Interactive Communication (RoMan), Association for the Advancement of Artificial Intelligences (AAAI) Symposia Ser

13、ies, IEEE International Conference on Robotics and Automation(ICRA) (Goodrich 2007). Since 2006, international HRI conference has been held annually. One of the issues related to HRI is the safety of the users. In reference to the statistics on Occupational Injuries compiled by the Labour Department

14、 of Hong Kong Government in 2007, there were 3967 injuries and 21 fatalities in the manufacturing industry in total. They indicated that there had been 491 workers injured due to striking against or being struck by dynamic moving objects (the number one type of accident) in the manufacturing industr

15、y.1.1 Safe robot speedThe causes of accidents related to robots could be ascribed to some human perceptual, physical and psychological limitations including human perception of robot size, speed and range of motion that can affect the human behaviour (Carlsson 1984). Different speed of robots can cause different perceptions of hazards. Kulic and Croft(2006) and Ikuta et al. (2003) used velocity as an input while developing a danger index during HRI. The forceexerted by robot arms is high with fast speed