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Human-in-the-loop active electrosense

机译：LOOM - 环路主动电孔

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摘要

Active electrosense is a non-visual, short range sensing system used by weakly electric fish, enabling such fish to locate and identify objects in total darkness. Here we report initial findings from the use of active electrosense for object localization during underwater teleoperation with a virtual reality (VR) head-mounted display (HMD). The advantage of electrolocating with aVR system is that it naturally allows for aspects of the task that are difficult for a person to perform to be allocated to the computer. However, interpreting weak and incomplete patterns in the incoming data is something that people are typically far better at than computers. To achieve human-computer synergy, we integrated an active electrosense underwater robot with the Oculus RiftHMD. The virtual environment contains a visualization of the electric images of the objects surrounding the robot as well as various virtual fixtures that guide users to regions of higher information value. Initial user testing shows that these fixtures significantly reduce the time taken to localize an object, but may not increase the accuracy of the position estimate. Our results highlight the advantages of translating the unintuitive physics of electrolocation to an intuitive visual representation for accomplishing tasks in environments where imaging systems fail, such as in dark or turbid water.
机译：主动电晶是由弱电器使用的非视觉，短程传感系统，使这种鱼能够定位并识别总黑暗中的物体。在这里，我们从使用虚拟现实（VR）头戴式显示器（HMD）的水下洞穴期间使用主动电静电进行对象定位的初始发现。通过AVR系统电连接的优点在于它自然地允许对人员难以将要分配给计算机的任务的方面。然而，解释传入数据中的弱和不完整模式是人们比计算机更好的东西。为实现人机协同作用，我们将活性电胶水下机器人与Oculus Rifthmd集成。虚拟环境包含围绕机器人的对象的电像的可视化以及指导用户到更高信息值区域的各种虚拟夹具。初始用户测试表明，这些灯具显着减少了本地化对象所需的时间，但可能不会增加位置估计的准确性。我们的结果突出了将电能分配的直观性物理转化为直观的视觉表示，以实现成像系统失效的环境中的任务，例如在黑暗或浑浊水中。

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