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19th Annual ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： De la Rosa, Jose Pablo Silva, Thiago Rocha Sorensen, Anders Stengaard Univ Southern Denmark Maersk M Moller Inst Odense Denmark

ISBN: (纸本)9798400703232

In this paper, we introduce an end-user programming approach for allowing physical trainers to program robot-assisted physical training activities without the assistance of a robotics engineer. The approach relies on a textual domain-specific language (DSL) to allow end users to specify the expected robot behaviour through Behaviour-Driven Development (BDD) scenarios. To evaluate the feasibility of our approach, we conducted a workshop with a physical therapist who was tasked with programming two different routines for a training robot. Results of the study highlighted the cognitive strategies employed by the end user to solve the task and also the pain points which required higher efforts from the user and should be therefore prioritized in our future work.

关键词： end-user programming Robot programming Behaviour-Driven Development (BDD) Domain-Specific Languages (DSLs)

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DESIGN AND USABILITY EVALUATION OF AN end-user programming ENVIRONMENT FOR EQUIPPING CONSTRUCTION STUDENTS WITH SENSOR DATA ANALYTICS SKILLS

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JOURNAL OF INFORMATION TECHNOLOGY IN CONSTRUCTION 2025年 30卷 213-242页

作者： Khalid, Mohammad Akanmu, Abiola Afolabi, Adedeji Murzi, Homero Awolusi, Ibukun Agee, Philip Virginia Polytech Inst & State Univ Blacksburg VA 24061 USA Univ Texas San Antonio San Antonio TX USA

Classification of construction resource states, using sensor data analytics, has implications for improving informed decision-making for safety and productivity. However, training on sensor data analytics in construction education faces challenges owing to the complexity of analytical processes and the large stream of raw data involved. This research presents the development and user evaluation of ActionSens, a block-based enduser programming platform, for training students from construction-related disciplines to classify resources using sensor data analytics. ActionSens was designed for construction students to perform sensor data analytics such as activity recognition in construction. ActionSens was compared to traditional tools (i.e., combining Excel and MATLAB) used for performing sensor data analytics in terms of usability, workload, visual attention, and processing time using the System Usability Scale, NASA Task Load Index, eye-tracking, and qualitative feedback. Twenty students participated, performing data analytics tasks with both approaches. ActionSens exhibited aAbetter user experience compared to conventional platforms, through higher usability scores and lower cognitive workload. This was evident through participants' interaction behavior, showcasing optimized attentional resource allocation across key tasks. The study contributes to knowledge by illustrating how the integration of construction domain information into block-based programming environments can equip students with the necessary skills for sensor data analytics. AThe development of ActionSens contributes to the Learning-for-Use framework by employing graphical and interactive programming objects to foster procedural knowledge for addressing challenges in sensor data analytics. AThe formative evaluation provides insights into how students engage with the programming environment and assesses the impact of the environment on their cognitive load.

关键词： Construction Sensor Data Analytics Machine Learning Usability end-user programming Construction Education

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ProgramAlly: Creating Custom Visual Access Programs via Multi-Modal end-user programming 24

ProgramAlly: Creating Custom Visual Access Programs via Mult...

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37th ACM Annual Symposium on user Interface Software and Technology (UIST)

作者： Herskovitz, Jaylin Xu, Andi Alharbi, Rahaf Guo, Anhong Univ Michigan Ann Arbor MI 48109 USA

ISBN: (纸本)9798400706288

Existing visual assistive technologies are built for simple and common use cases, and have few avenues for blind people to customize their functionalities. Drawing from prior work on DIY assistive technology, this paper investigates end-user programming as a means for users to create and customize visual access programs to meet their unique needs. We introduce ProgramAlly, a system for creating custom filters for visual information, e.g., 'find NUMBER on BUS', leveraging three end-user programming approaches: block programming, natural language, and programming by example. To implement ProgramAlly, we designed a representation of visual filtering tasks based on scenarios encountered by blind people, and integrated a set of on-device and cloud models for generating and running these programs. In user studies with 12 blind adults, we found that participants preferred different programming modalities depending on the task, and envisioned using visual access programs to address unique accessibility challenges that are otherwise difficult with existing applications. Through ProgramAlly, we present an exploration of how blind end-users can create visual access programs to customize and control their experiences.

关键词： Accessibility Assistive technology Do-it-yourself end-user programming Blind Visual impairment Design

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Goal-Oriented end-user programming of Robots 24

Goal-Oriented End-User Programming of Robots

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19th Annual ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Porfrio, David Roberts, Mark Hiatt, Laura M. US Naval Res Lab Washington DC 20375 USA

ISBN: (数字)9798400703225

ISBN: (纸本)9798400703225

end-user programming (EUP) tools must balance user control with the robot's ability to plan and act autonomously. Many existing task-oriented EUP tools enforce a specifc level of control, e.g., by requiring that users hand-craft detailed sequences of actions, rather than ofering users the fexibility to choose the level of task detail they wish to express. We thereby created a novel EUP system, Polaris, that in contrast to most existing EUP tools, uses goal predicates as the fundamental building block of programs. users can thereby express high-level robot objectives or lower-level checkpoints at their choosing, while an of-the-shelf task planner flls in any remaining program detail. To ensure that goal-specifed programs adhere to user expectations of robot behavior, Polaris is equipped with a Plan Visualizer that exposes the planner's output to the user before runtime. In what follows, we describe our design of Polaris and its evaluation with 32 human participants. Our results support the Plan Visualizer's ability to help users craft higher-quality programs. Furthermore, there are strong associations between user perception of the robot and Plan Visualizer usage, and evidence that robot familiarity has a key role in shaping user experience.

关键词： human-robot interaction end-user programming task planning

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end-user programming and Math Teachers: an Initial Study 2022

End-User Programming and Math Teachers: an Initial Study

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16th Working Conference on Advanced Visual Interfaces (ACM AVI)

作者： Andrao, Margherita Desolda, Giuseppe Greco, Francesco Manfredi, Ren Treccani, Barbara Zancanaro, Massimo Univ Trento Fdn Bruno Kessler Trento Italy Univ Bari Bari Italy Univ Trento Trento Italy

ISBN: (纸本)9781450397193

This paper presents a pilot study for an initial assessment of a tangible tool to support end-user programming (EUP) by teachers to facilitate learning mathematics in primary school. The study aimed to explore teachers' reasoning strategies and mental representations during trigger-action rules composition. The pilot study provided initial insight into the strengths and weaknesses of this approach and useful hints for designing a larger and more robust study

关键词： end-user Development end-user programming Mental Models

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A System for Human-Robot Teaming through end-user programming and Shared Autonomy 24

A System for Human-Robot Teaming through End-User Programmin...

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19th Annual ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Hagenow, Michael Senft, Emmanuel Radwin, Robert Gleicher, Michael Zinn, Michael Mutlu, Bilge MIT Cambridge MA 02139 USA Idiap Res Inst Martigny Switzerland Univ Wisconsin Madison Madison WI USA

ISBN: (数字)9798400703225

ISBN: (纸本)9798400703225

Many industrial tasks-such as sanding, installing fasteners, and wire harnessing-are difcult to automate due to task complexity and variability. We instead investigate deploying robots in an assistive role for these tasks, where the robot assumes the physical task burden and the skilled worker provides both the high-level task planning and low-level feedback necessary to efectively complete the task. In this article, we describe the development of a system for fexible human-robot teaming that combines state-of-the-art methods in end-user programming and shared autonomy and its implementation in sanding applications. We demonstrate the use of the system in two types of sanding tasks, situated in aircraft manufacturing, that highlight two potential workfows within the human-robot teaming setup. We conclude by discussing challenges and opportunities in human-robot teaming identifed during the development, application, and demonstration of our system.

关键词： Human-robot teaming end-user programming shared autonomy

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From Gestures to Behaviours: An Empirical Study on Behaviour-Driven Development Scenarios to Support end-user programming of Collaborative Robots 8th

From Gestures to Behaviours: An Empirical Study on Behaviour...

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8th IFToMM International Symposium on Robotics and Mechatronics (ISRM)

作者： De la Rosa, Jose Pablo Solis, Jorge Nakamori, Koyu Ricardez, Gustavo Alfonso Garcia Hakansson, Johan Sorensen, Anders Stengaard Silva, Thiago Rocha Univ Southern Denmark Maersk McKinney Moller Inst Odense Denmark Karlstad Univ Karlstad Sweden Ritsumeikan Univ Kusatsu Shiga Japan Goodtech Solut AB Karlstad Sweden

ISBN: (纸本)9783031598906;9783031598883;9783031598876

In this paper we introduce an end-user programming approach for defining interaction sequences with collaborative robots using gestures. The approach relies on a textual domain-specific language (DSL) to allow end users to specify the expected robot behaviour through Behaviour-Driven Development (BDD) scenarios. To evaluate the feasibility of our approach, we conducted a user study with 12 participants having an entry level in programming. The participants were asked to code a sequence in which the collaborative robot responds to their body gestures by performing a pick-and-place task. The study's findings indicate that the method is both effective and user-friendly for individuals with limited programming experience, while highlighting opportunities for adopting new end-user development practices.

关键词： end-user programming Robot programming Industry 5.0 Collaborative robots Multimodal interaction Behaviour-Driven Development (BDD) Domain-Specific Languages (DSLs)

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Poster: end-user programming is WEIRD

Poster: End-user Programming is WEIRD

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IEEE Symposium on Visual Languages and Human-Centric Computing (VL/HCC)

作者： Goel, Harshit Kumar, Aayush Ragavan, Sruti Srinivasa Indian Inst Technol Comp Sci & Engn Kanpur Uttar Pradesh India

ISBN: (纸本)9798350329469

end-user programming (EUP) gives ordinary computer users the ability to create and modify software on their own. However, we suspect that most developments in EUP are based on the preferences of WEIRD (Western, Educated, Industrialised, Rich, and Democratic) populations. Only 15% of the world's population live in WEIRD nations and therefore any WEIRD bias in EUP research and tools potentially excludes the vast majority of the people from reaping its benefits. Therefore, to investigate the existence and the nature of any WEIRDness bias in EUP, we conducted a systematic mapping study of the research papers (N=217) published on EUP since 2019. Our results suggest that EUP research is WEIRD in three ways, namely researcher diversity, research participant diversity, and the application domains the research caters to. We discuss the implications of these findings and suggest ways to improve the current situation.

关键词： end-user programming WEIRD systematic mapping studies

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Octave: an end-user programming Environment for Analysis of Spatiotemporal Data for Construction Students

Octave: an End-User Programming Environment for Analysis of ...

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IEEE Symposium on Visual Languages and Human-Centric Computing (VL/HCC)

作者： Manesh, Daniel Luu, Andy Khalid, Mohammad Li, Jiangyue Okonkwo, Chinedu Akanmu, Abiola Awolusi, Ibukun Murzi, Homero Lee, Sang Won Virginia Tech Dept Comp Sci Blacksburg VA 24061 USA Virginia Tech Myers Lawson Sch Construct Blacksburg VA USA UTSA Sch Civil & Environm Engn & Construct Management San Antonio TX USA Virginia Tech Dept Engn Educ Blacksburg VA USA

ISBN: (纸本)9798350329469

The construction industry is a new avenue for big data and data science with sensors and cyber-physical systems deployed in the field. Construction students need to develop computational thinking skills to help make sense of this data, but existing data science environments designed with textual programming languages create a significant barrier to entry. To bridge this gap, we introduce Octave, an end-user programming environment designed to help non-expert programmers analyze spatiotemporal data (e.g., as gathered by a GPS sensor) in an interactive graphical user interface. To aid exploration and understanding, Octave's design incorporates a high degree of liveness, highlighting the interconnection between data, computation, and visualization. We share the underlying design principles behind Octave and details about the system design and implementation. To evaluate Octave, we conducted a usability study with students studying construction. The results show that non-programmer construction students were able to learn Octave easily and were able to effectively use it to solve domain-specific problems from construction education. The participants appreciated Octave's liveness and felt they could easily connect it to real-life problems in their field. Our work informs the design of future accessible end-user programming environments for data analysis targeting non-experts.

关键词： Construction Data analytics end-user programming Spreadsheets Spatiotemporal Data

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Participatory Design and end-user programming for Human-Robot Interaction 22

Participatory Design and End-User Programming for Human-Robo...

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17th Annual ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Senft, Emmanuel Porfirio, David Winkle, Katie Univ Wisconsin Dept Comp Sci Madison WI USA KTH Royal Inst Technol Div Robot Percept & Learning Stockholm Sweden

ISBN: (数字)9781665407311

ISBN: (纸本)9781665407311

The Participatory Design and end-user programming for Human-Robot Interaction (HRI) workshop aims to advance research on how to design systems that can be used by end users to program robots. There tends to be a fracture in HRI between the technical designers of robot programs (often engineers or computer scientists) and the actual users of such robots. Developers have the capabilities to program robots but often lack insights possessed by domain experts, sometimes leading to technically interesting but impractical systems. With this workshop, we aim to bridge two different methods often used individually within the wider HRI community to involve end users in robot program design: Participatory Design (PD) and end-user programming (EUP). Both methods empower end users to co-produce robots addressing real-world needs. However, there have been limited opportunities to unite researchers who specialize in these areas and engage in mutual learning. We will address this shortcoming with a full-day workshop, which will put the PD and EUP communities in touch, inviting speakers from both sides and welcoming a wide range of publications from describing new end-user programming methods to compiling insights learned from conducting participatory design studies.

关键词： end-user programming Human-Robot Interaction Personalization Participatory Design

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