Evaluating quality in human-robot interaction: A systematic search and classification of performance and human-centered factors, measures and metrics towards an industry 5.0

Cloud computing infrastructure is suitable for meeting computational needs of large task sizes. Optimal scheduling of tasks in cloud computing environment has been proved to be an NP-complete problem, hence the need for the application of heuristic methods. Several heuristic algorithms have been developed and used in addressing this problem, but choosing the appropriate algorithm for solving task assignment problem of a particular nature is difficult since the methods are developed under different assumptions. Therefore, six rule based heuristic algorithms are implemented and used to schedule autonomous tasks in homogeneous and heterogeneous environments with the aim of comparing their performance in terms of cost, degree of imbalance, makespan and throughput. First Come First Serve (FCFS), Minimum Completion Time (MCT), Minimum Execution Time (MET), Max-min, Min-min and Sufferage are the heuristic algorithms considered for the performance comparison and analysis of task scheduling in cloud computing.

/pdf/performance-comparison-of-heuristic-algorithms-for-task-28uuv81wmj.pdf

Performance comparison of heuristic algorithms for task scheduling in IaaS cloud computing environment.

Proceedings of the fourth annual ACM-SIAM symposium on Discrete algorithms

A significant amount of work is invested in human-machine teaming (HMT) across multiple fields. Accurately and effectively measuring system performance of an HMT is crucial for moving the design of these systems forward. Metrics are the enabling tools to devise a benchmark in any system and serve as an evaluation platform for assessing the performance, along with the verification and validation, of a system. Currently, there is no agreed-upon set of benchmark metrics for developing HMT systems. Therefore, identification and classification of common metrics are imperative to create a benchmark in the HMT field. The key focus of this review is to conduct a detailed survey aimed at identification of metrics employed in different segments of HMT and to determine the common metrics that can be used in the future to benchmark HMTs. We have organized this review as follows: identification of metrics used in HMTs until now, and classification based on functionality and measuring techniques. Additionally, we have also attempted to analyze all the identified metrics in detail while classifying them as theoretical, applied, real-time, non-real-time, measurable, and observable metrics. We conclude this review with a detailed analysis of the identified common metrics along with their usage to benchmark HMTs.

pdf/common-metrics-to-benchmark-human-machine-teams-hmt-a-review-55bbvc0huh.pdf

Common Metrics to Benchmark Human-Machine Teams (HMT): A Review

Modular robotic systems

Cloud computing is a new and rapidly emerging computing paradigm where applications, data and IT services are provided over the Internet. The task-resource management is the key role in cloud computing systems. Task-resource scheduling problems are premier which relate to the efficiency of the whole cloud computing facilities. Task-resource scheduling problem is NP-complete. In this paper, we consider an approach to solve this problem optimally. This approach is based on constructing a logical model for the problem. Using this model, we can apply algorithms for the satisfiability problem (SAT) to solve the task-resource scheduling problem. Also, this model allows us to create a testbed for particle swarm optimization algorithms for scheduling workflows.

Task-resource scheduling problem

Composed of multiple modular robotic units, self-reconfigurable modular robots are metamorphic systems that can autonomously rearrange the modules and form different configurations depending on dynamic environments and tasks. The goal of self-reconfiguration is to determine how to change connectivity of modules to transform the robot from the current configuration to the goal configuration subject to restrictions of physical implementation. The existing reconfiguration algorithms use different methods, such as divide-and-conquer, graph matching, and the like, to reduce the reconfiguration cost. However, an optimal solution with a minimal number of reconfiguration steps has not been found yet. The optimal reconfiguration planning problem consists in finding the least number of reconfiguration steps transforming the robot from one configuration to another. This is an NP-complete problem. In this paper, we describe an approach to solve this problem. The approach is based on constructing logical models of the problem under study.

Programming for modular reconfigurable robots

Grid graphs are popular testbeds for planning with incomplete information. In particular, it is studied a fundamental planning problem, localization, to investigate whether gridworlds make good testbeds for planning with incomplete information. It is found empirically that greedy planning methods that interleave planning and plan execution can localize robots very quickly on random gridworlds or mazes. Thus, they may not provide adequately challenging testbeds. On the other hand, it is showed that finding localization plans that are within a log factor of optimal is NP-hard. Thus there are instances of gridworlds on which all greedy planning methods perform very poorly. These theoretical results help empirical researchers to select appropriate planning methods for planning with incomplete information as well as testbeds to demonstrate them. However, for practical application of difficult instances we need a method for their fast decision. In this paper we describe an approach to solve localization problem. This approach is based on constructing a logical model for the problem.

Localization on Discrete Grid Graphs

The set of parameterized k-covers problem

Recent technological advances have facilitated the widespread use of sensor networks in many applications. In particular, deploying many sensors in a workspace provides a valuable alternative to on-board localisation for mobile robots. Coverage and placement problems for sensors which jointly estimate the states of targets received considerable attention recently. In this paper, we consider the problem of sensor placement for triangulation-based localisation. The problem is non-deterministic polynomial-time hard in its most general form. We present a reformulation of an existing integer linear programme for the problem where we transform the original to an equivalent integer linear programme with less number of variables. We consider an approach to solve the problem that is based on constructing a logical model for the problem. In particular, we give explicit polynomial reductions from the decision version of the problem to satisfiability problem (SAT) and 3-satisfiability problem (3SAT).

The problem of sensor placement for triangulation-based localisation

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