Introduction
Welcome to the Human Error Detection and Correction website. HEDC is a project by Team 1 for the Spring 2009 CS/CPE 426 Senior Project class at the University of Nevada, Reno.
In many applications, mechanical systems are often teleoperated by a human user in order to efficiently complete a complex task. Even if a human user is highly trained and experienced in the teleoperation procedure, errors cannot always be avoided, either due to problems in interpreting the sensory feedback or due to human mistakes. Such errors can endanger the mechanical unit itself, the success of a critical mission, or put human lives in danger. It is the goal of this project to incorporate a certain level of machine intelligence and autonomous operation while allowing a human user to control the system. This intelligence will be in the form of a procedure that detects obstacles in the system’s path and alert the operator to the danger. An alternative procedure is to have the system intervene and temporarily override the operator, where the overriding motion contradicts the human controlled motion as little as possible.
Current Progress
5/1/2009: Our project was presented at the Computer Science and Engineering Senior Projects Workshop.
4/30/2009: The interface has been redesigned. The laser data and joystick map are now on one screen for one large map of the world. A better indicator has also been added for autonomous mode.
4/29/2009: Our video can now be found on YouTube here.
4/28/2009: The dynamic window portion of the project has been completed. Our program now allows the Segway to successfully avoid obsticles. We will be testing more up until the workshop.
4/22/2009: The client sends commands to the server well enough for the RMP to be driven wirelessly. This will be as far as we will get with the wireless implementation until we are done with the A.I. and until another USB XBee board is shipped to us.
4/17/2009: The Documentation page has been updated with our newest documented code as of yesterday. Our implementation of wireless has changed. We will now be using two laptops. The client laptop will use the joystick to send commands via an XBee to the XBee connected to the server laptop. The server laptop will get all Segway data and do the path planning computations and send valid information back to the client. Wireless is currently half working; joystick commands can be successfully sent from the client to the server laptops. The RMP will also now calculate danger based on it's velocity and a degree look-ahead angle so that danger will be more realistic when driving through areas like narrow hallways.
4/4/2009: Contact page added.
4/4/2009: The laser is now working and merged into our project, and the poster is complete. Wireless communication is still in progress as there is a small problem getting the CAN interface to work. HEDC now has more features such as a status icon, Readme file, and danger meter. The interface is also currently being cleaned up. Starting next week we will start looking into how the RMP will react to danger using the laser and possible algorithms for path planning. Doxygen will also be run again to provide up to date documentation on the project.
3/13/2009: The resources page has been updated with our new sources and longer, more informative descriptions.
2/21/2009: Currently the basic interface is complete, while the wireless protocol and laser sensor communication are in progress.
2/13/2009: This website has been created for our HEDC project.