Open Access Theses and Dissertations

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You searched for +publisher:"Delft University of Technology" +contributor:("Heemskerk, Cock"). Showing records 1 – 3 of 3 total matches.

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Delft University of Technology

1. Bollini, Valentina (author). Automatic data collection for facial expression recognition.

Degree: 2018, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:1335643e-6202-4a8c-bd51-9f7657a3611e 

Facial expression recognition today is a widely-researched topic with some pertinent applications in human-computer interaction (HCI), surveillance, etc. The diverse range of expressions makes data collection expensive in terms of time and money, making task-specific data collection inconvenient. This thesis project investigates a possible method for quickly and cheaply collecting this data, especially for a Human Computer Interaction (HCI) application. In particular, the focus is on it{Pepper}, a robot meant for interacting with humans through conversation. For collecting such data, emotions should be triggered in participants and their faces should be video-recorded. The triggering method used was to show videos selected for triggering specific emotions, letting participants watch them in pairs, thus enabling mutual interactions to better simulate the social environment in which the robot will operate. After watching each video, participants were asked to rate their feelings through the it{AffectButton}, a tool for intuitively describing emotions in a dimensional way. Video selection was based on a questionnaire in which people were asked to rate emotions a video was triggering in them. Recordings obtained from people watching the triggering video were then compared to a model of a neutral expression performed by the same participant, in order to select the frames in which expressions were shown, ignoring neutral and transition frames. The pictures obtained were included in a dataset, which is used for training a linear regressor and a Convolutional Neural Network (CNN). These were then tested on naturalistic data taken during conversations, in order to investigate whether the proposed data collection method could build a useful dataset and the results showed this method to be promising. Advisors/Committee Members: Hung, Hayley (mentor), Jonker, Pieter (mentor), Heemskerk, Cock (mentor), Delft University of Technology (degree granting institution).

Subjects/Keywords: data collection; facial expression

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

Bollini, V. (. (2018). Automatic data collection for facial expression recognition. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:1335643e-6202-4a8c-bd51-9f7657a3611e

Chicago Manual of Style (16th Edition):

Bollini, Valentina (author). “Automatic data collection for facial expression recognition.” 2018. Masters Thesis, Delft University of Technology. Accessed January 26, 2021. http://resolver.tudelft.nl/uuid:1335643e-6202-4a8c-bd51-9f7657a3611e.

MLA Handbook (7th Edition):

Bollini, Valentina (author). “Automatic data collection for facial expression recognition.” 2018. Web. 26 Jan 2021.

Vancouver:

Bollini V(. Automatic data collection for facial expression recognition. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 Jan 26]. Available from: http://resolver.tudelft.nl/uuid:1335643e-6202-4a8c-bd51-9f7657a3611e.

Council of Science Editors:

Bollini V(. Automatic data collection for facial expression recognition. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:1335643e-6202-4a8c-bd51-9f7657a3611e


Delft University of Technology

2. van den Berg, A. (author). Visual Feedback for Haptic Shared Control Enabled Teleoperation of an Industrial Robot: With Dross Removal as a Use Case.

Degree: 2020, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:9dbdc10d-085d-4e9a-b095-4a91db6282fc 

Haptic shared control (HSC) has been shown to be useful in a wide variety of applications by providing the benefits of automation while keeping the human in the loop. In recent years, providing additional visual feedback has been found to provide benefits to HSC interfaces by complementing its advantages and mitigating its weaknesses. However, the implementation and understanding of this interaction are still quite limited. In this study, we provide new insights into this interaction by extending these findings to the HSC enabled teleoperation of an industrial robot. Two methods of providing additional visual feedback are implemented for the use case of dross removal and are evaluated in a human factors experiment. The first method is the implementation of a set of visual cues, designed to complement the HSC guidance and force feedback. The second method is the use of a head-mounted display (HMD), instead of a desktop monitor, providing additional depth information and an increased sense of immersion. Both methods proved to be beneficial, but only in certain aspects of the operation. The visual cues were found to significantly improve safety in terms of peak collision force, whereas the HMD significantly improves the performance. Additional analysis suggests the use of an HMD causes improvements in the manipulability of the interface. Furthermore, improved scores in the van der Laan questionnaires and the user preference indicate an increased user acceptance due to the implementation of either of the methods. This study provides additional insight into the importance of visual feedback in HSC and provides two methods to take advantage of its potential benefits in the teleoperation of an industrial robot.

BioMechanical Design (BMD)

Advisors/Committee Members: Abbink, D.A. (mentor), Peternel, L. (mentor), Hofland, Jelle (mentor), Heemskerk, Cock J. M. (mentor), Delft University of Technology (degree granting institution).

Subjects/Keywords: Teleoperation; Haptic Shared Control; Haptic Feedback; Visual Feedback; Dross Removal; VR; HMD

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

van den Berg, A. (. (2020). Visual Feedback for Haptic Shared Control Enabled Teleoperation of an Industrial Robot: With Dross Removal as a Use Case. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:9dbdc10d-085d-4e9a-b095-4a91db6282fc

Chicago Manual of Style (16th Edition):

van den Berg, A (author). “Visual Feedback for Haptic Shared Control Enabled Teleoperation of an Industrial Robot: With Dross Removal as a Use Case.” 2020. Masters Thesis, Delft University of Technology. Accessed January 26, 2021. http://resolver.tudelft.nl/uuid:9dbdc10d-085d-4e9a-b095-4a91db6282fc.

MLA Handbook (7th Edition):

van den Berg, A (author). “Visual Feedback for Haptic Shared Control Enabled Teleoperation of an Industrial Robot: With Dross Removal as a Use Case.” 2020. Web. 26 Jan 2021.

Vancouver:

van den Berg A(. Visual Feedback for Haptic Shared Control Enabled Teleoperation of an Industrial Robot: With Dross Removal as a Use Case. [Internet] [Masters thesis]. Delft University of Technology; 2020. [cited 2021 Jan 26]. Available from: http://resolver.tudelft.nl/uuid:9dbdc10d-085d-4e9a-b095-4a91db6282fc.

Council of Science Editors:

van den Berg A(. Visual Feedback for Haptic Shared Control Enabled Teleoperation of an Industrial Robot: With Dross Removal as a Use Case. [Masters Thesis]. Delft University of Technology; 2020. Available from: http://resolver.tudelft.nl/uuid:9dbdc10d-085d-4e9a-b095-4a91db6282fc


Delft University of Technology

3. van den Berg, Alex (author). Visual Feedback for Haptic Assisted Teleoperation of an Industrial Robot: With Dross Removal as a Use Case.

Degree: 2020, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:e005af62-fdf2-46aa-8b67-fc8f42fab994 

Haptic assistance (HA) has been shown to be useful in a wide variety of applications by providing the benefits of automation while keeping the human in the loop. In recent years, providing additional visual feedback has been found to provide benefits to HA interfaces by complementing their advantages and mitigating their weaknesses. However, the implementation and understanding of this interaction are still quite limited. In this study, we provide new insights into this interaction by extending these findings to the HA teleoperation of an industrial robot, in which the HA is comprised of a set of Virtual Fixtures (VFs). Two methods of providing additional visual feedback are implemented for the use case of dross removal and are evaluated in a human factors experiment. The first method is the implementation of a set of visual cues, designed to complement the HA and force feedback. The second method is the use of a head-mounted display (HMD), instead of a desktop monitor, providing additional depth information and an increased sense of immersion. Both methods proved to be beneficial, but only in certain aspects of the operation. The visual cues were found to significantly improve safety in terms of peak collision force, whereas the HMD significantly improves the performance. Additional analysis suggests the use of an HMD causes improvements in the manipulability of the interface. Furthermore, improved scores in the van der Laan questionnaires and the user preference indicate an increased user acceptance due to the implementation of either of the methods. This study provides additional insight into the importance of visual feedback for HA and provides two methods to take advantage of its potential benefits in the teleoperation of an industrial robot.

BioMechanical Design (BMD)

Advisors/Committee Members: Abbink, D.A. (mentor), Peternel, L. (mentor), Heemskerk, Cock J.M. (mentor), Hofland, Jelle (mentor), Kober, J. (graduation committee), Delft University of Technology (degree granting institution).

Subjects/Keywords: Teleoperation; Haptic Assistance; Virtual Fixtures; Haptic Feedback; Visual Feedback; Dross Removal; VR; HMD

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❌

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

van den Berg, A. (. (2020). Visual Feedback for Haptic Assisted Teleoperation of an Industrial Robot: With Dross Removal as a Use Case. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:e005af62-fdf2-46aa-8b67-fc8f42fab994

Chicago Manual of Style (16th Edition):

van den Berg, Alex (author). “Visual Feedback for Haptic Assisted Teleoperation of an Industrial Robot: With Dross Removal as a Use Case.” 2020. Masters Thesis, Delft University of Technology. Accessed January 26, 2021. http://resolver.tudelft.nl/uuid:e005af62-fdf2-46aa-8b67-fc8f42fab994.

MLA Handbook (7th Edition):

van den Berg, Alex (author). “Visual Feedback for Haptic Assisted Teleoperation of an Industrial Robot: With Dross Removal as a Use Case.” 2020. Web. 26 Jan 2021.

Vancouver:

van den Berg A(. Visual Feedback for Haptic Assisted Teleoperation of an Industrial Robot: With Dross Removal as a Use Case. [Internet] [Masters thesis]. Delft University of Technology; 2020. [cited 2021 Jan 26]. Available from: http://resolver.tudelft.nl/uuid:e005af62-fdf2-46aa-8b67-fc8f42fab994.

Council of Science Editors:

van den Berg A(. Visual Feedback for Haptic Assisted Teleoperation of an Industrial Robot: With Dross Removal as a Use Case. [Masters Thesis]. Delft University of Technology; 2020. Available from: http://resolver.tudelft.nl/uuid:e005af62-fdf2-46aa-8b67-fc8f42fab994

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