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====== Annotated Bibliography for HTC Vive-HRI Project ======

**Author:** Keitaro Nishimura Email: nishik1@unlv.nevada.edu 
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**Date:** Last modified on 05/13/17
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**Keywords:** HTC Vive, HRI, Relevant Papers
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====== Papers =====

Papers as of 05/03/17 (pw is std) 
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{{:hri-papers-05-03-17.zip|HRI papers 1-2}} 
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{{:intuitive_bimanual_telemanipulaion_under_communication_restricions_by_immersive_3d_visualization_and_motion_tracking.zip|HRI Paper 3}}

===== Annotated References =====

1. [[http://www.sciencedirect.com/science/article/pii/S0003687017300674|HRI usability evaluation of interaction modes for a teleoperated agricultural robotic sprayer]]
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Publisher:2017 Applied Ergonomics 
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Keywords: HRI, Real-time Teleoperation, Hardware/software Comparison
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APA Citation:
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Adamides, G., Katsanos, C., Parmet, Y., Christou, G., Xenos, M., Hadzilacos, T., & Edan, Y. (2017). HRI usability evaluation of interaction modes for a teleoperated agricultural robotic sprayer. Applied Ergonomics, 62, 237-246. doi:10.1016/j.apergo.2017.03.008
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This paper describes the usage of Human-Robot Interface (HRI) for usage in semi-autonomous agricultural robots, specifically spraying robots. The authors present experiments to compare various HRI designs. From this presentation, the paper concludes that the usage of HRI for semi-autonomous agriculture robots during detection of crops drastically improves accuracy.  
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From the state-of-the-art, the paper identifies challenges in autonomous crop identification for spraying. The paper addresses these challenges by creating an HRI to allow humans to identify and spray crops. The results of this approach are novel. 
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The paper presents the following theoretical principles: 1) That for complicated and irregular tasks as identifying crops on a plant, human teleoperation is the most efficient and accurate; and 2) Based on the task the best HRI is different for output and input. These were clearly described in the paper. 
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The principles are explained well. For example, table 1-2 show the correct application of the principles. 
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From the principles and results, the paper concludes: 1) Usage of humans for identifying and spraying crops was more accurate than without; 2) The best input for the HRI was the keyboard; 3) the best output was multiple camera views; and 3) that the type of screen output only affected the perceived workload index and had no effect on the actual task. 
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Keitaro Nishimura liked this paper because it showed that the usage of commercially available hardware was viable, it gave detailed comparisons between the different HRI models they had, it had a large pool of people to get data from. I disliked this paper because it didn't focus on how to best implement VR assisted teleoperation, rather it took different hardware and compared them against each other without any optimization for all of them. I would have liked to see more research in optimizing the different hardware and then comparing their respective ease of use. 
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Three things I learned from this paper were: (1) How un-optimized VR HRI stands against traditional methods of teleoperation; (2) Different standards to define the ease of use for an HRI model; and (3) How visual feed back effects teleoperation
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2. [[http://ieeexplore.ieee.org/document/7535568/|Enhancing telepresence during the teleoperation of road vehicles using HMD-based mixed reality]]
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Publisher:2016 IEEE Intelligent Vehicles Symposium (IV)
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Keywords: HMI, Augmented Reality, Virtual Reality, Teleoperation
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APA Citation:
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Hosseini, A., & Lienkamp, M. (2016). Enhancing telepresence during the teleoperation of road vehicles using HMD-based mixed reality. 2016 IEEE Intelligent Vehicles Symposium (IV). doi:10.1109/ivs.2016.7535568
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This paper describes the usage of Head Mounted Display (HMD)-based mixed reality teleoperation of vehicles. The authors present simulations and experimentations. From this presentation, the paper concludes that the implementation of a mixed reality telepresence improves the accuracy of driving, recognition of the surrounding spatial environment, and the NASA Task Load Index. 
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From the state-of-the-art, the paper identifies challenges in teleoperation of vehicles in complex situations where autonomous vehicles can still not generate an appropriate behavior. The paper addresses these challenges by using a Human Machine Interface (HMI) that allows the Human Operator (HO) to visualize 360 degrees around the vehicle with a mix of camera and Lidar data. The results of this approach are novel. 
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The paper presents the following theoretical principles: 1) Enhancing teleoperation through mixed reality HMI
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The principles are explained well. For example, Fig. 9 shows the correct application of the principles. 
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From the principles and results, the paper concludes: 1) The usage of the concept HMI significantly improved spatial awareness of the HO while performing precise tasks. And 2) some HO found the HMD increased the perceived workload.
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Keitaro Nishimura liked this paper because it showed where the benefits of an immersive HRI lie, How this could be implemented in a seated position, and showed the usage of a mixture of augmented and virtual reality. I disliked the paper because it didn't use a real experiment rather just a simulation to test their HRI. I would have liked to see how the HRI would have behaved in a real world situation. 
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Three things I learned from this paper were: (1) The usefulness of a mixed reality HRI (2) Where using an immersive HRI benefits the HO; and (3) Where it fails to benefit the HO.  

3. [[http://ieeexplore.ieee.org/document/7363547/|Intuitive bimanual telemanipulation under communication restrictions by immersive 3D visualization and motion tracking]]
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Publisher: 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)
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Keywords: HRI, DRC Finals, Bimanual Telemanipulation, 3D environmental awareness
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APA citation
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Rodehutskors, T., Schwarz, M., & Behnke, S. (2015). Intuitive bimanual telemanipulation under communication restrictions by immersive 3D visualization and motion tracking. 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids). doi:10.1109/humanoids.2015.7363547
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This paper describes the implementation of commercially available Virtual reality hardware to give the HO environmental awareness during telemanipulation.
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The authors present the results from the DRC finals and their own home made task to prove and verity the use of their implementation.
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From this presentation, the paper concludes that their usage of 3D immersive telemanipulation was successful and that it significantly enhanced the HO’s perception of the robots environment.

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From the state-of-the-art, the paper identifies challenges in automation for complex and unforeseen tasks.
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The paper addresses these challenges by using a human-robot system that gives a HO control of the robot for tasks that require nimble manipulation skills. 
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The results of this approach are the successful execution of the DRC finals task and their own bimanual task. 
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The paper presents the following theoretical principles: (1) That an immersive HRI provides the HO with more situational awareness of the robots environment; and (2) The usage of intuitive bimanual controls allows for accurate manipulation of both end defectors at the same time.
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The principles are explained well.
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For example Tables 1&2 show the various execution times for the DRC finals tasks and their own bimanual task.
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From the principles and results, the paper concludes: That the usage of an HMD significantly enhanced the environmental awareness of the HO; (2) the usage of bimanual controls allowed the HO to execute complex bimanual tasks quickly and accurately. 
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Keitaro Nishimura likes this paper because: (1) it showed the real world usage of an HRI and bimanual controls in a simulated disaster relief situation; (2) It proved the feasability of implementing such controls in a communication desegregated environment; and (3) it gave detailed depictions of the problems that the HO faced when using the system that could lead to future improvements to the system. 
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I disliked this paper because it didn’t compare the effectiveness of their implementation of an immersive bimanual HRI with a more traditional HRI system to see if there were any measurable improvements over it. 
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Three things I learned form this paper were: (1) the state-of-the-art of humanoid robotics telemanipulation; (2) The limitations of humanoid robotics automation; (3) How to deal with communication degradation when a large amount of data needs to be transferred in real time.