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Abhilash K. Pandya

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Publications by Abhilash K. Pandya (bibliography)

2009

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Chintamani, Keshav, Cao, Alex, Ellis, R. Darin, Tan, Chin-An and Pandya, Abhilash K. (2009): Systematic Tele-operation with Augmented Reality Path Planned Navigation Cues in Cluttered Environments. In: Proceedings of the Human Factors and Ergonomics Society 53rd Annual Meeting 2009. pp. 81-85.

“A novel method of providing human operators with Augmented Reality (AR) cues for collision-free navigation of robot arms in cluttered environments is described. The cues are graphic objects that aid the operator to rotate and translate the end-effector of the robot along AR collision-free paths pre-computed by a probabilistic path planner. Manual control of robot arms is a common mode of tele-manipulation on the International Space Station (ISS). Limited depth perception of the remote robot's 3D worksite can result in collisions with severe consequences. This paper combines the qualities of a planning algorithm to search for ideal paths, and the benefits of augmented reality for enhanced visualization. Presenting spatial path information to the user in an intuitive manner results in collision-free robot navigation along with performance repeatability. We present findings from the implementation of such a system with human operators and show that the system is beneficial.”

1992

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Whitmore, Mihriban, Aldridge, Ann M., Morris, Randy B., Pandya, Abhilash K., Wilmington, Robert P., Jensen, Dean G. and Maida, James C. (1992): Integrating Microgravity Test Data with a Human-Computer Reach Model. In: Proceedings of the Human Factors Society 36th Annual Meeting 1992. pp. 1249-1253.

“Future space vehicles such as the Space Station Freedom will be equipped with computers that have direct manipulation capabilities. The human factors challenge is to provide an optimal human-systems interface which will accommodate a wide range of users and tasks in a microgravity environment. A series of experiments have been conducted by the Man-Systems Division at Johnson Space Center to resolve anthropometric issues related to human reach capabilities and limitations impacting workstation design. To facilitate this goal, two approaches, "Performance-based" and "Model-based" analyses, were integrated to investigate the human reach mapped onto the workstation display panels. Microgravity maximum reach sweep data were collected onboard NASA's KC-135 Reduced Gravity Aircraft. A three-dimensional (3-D) interactive graphics system, PLAID, was used to generate anthropometrically correct human computer models. Video tapes recorded during the flights were used to extract information for positioning each human representation in the computer model relative to the workstation. The approach, findings and implications of the evaluations are discussed in the paper.”

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