Mobile augmented reality for mobile robot assembly manual

In industrial operations such as assembly tasks, manuals or guidebooks are commonly used to convey information via visual methods in the form of text, pictures or videos and more recently Augmented Reality (AR) which has gained traction in recent years. However, several researchers highlighted their...

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Main Author:	Koh, Ye Sheng
Format:	Thesis
Language:	English
Published:	2022
Subjects:	TK Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/102515/1/KohYeShengMSKE2022.pdf
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id	my-utm-ep.102515
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spelling	my-utm-ep.1025152023-09-03T06:35:12Z Mobile augmented reality for mobile robot assembly manual 2022 Koh, Ye Sheng TK Electrical engineering. Electronics Nuclear engineering In industrial operations such as assembly tasks, manuals or guidebooks are commonly used to convey information via visual methods in the form of text, pictures or videos and more recently Augmented Reality (AR) which has gained traction in recent years. However, several researchers highlighted their studies may not accurately represent actual assembly scenarios in terms of complexity as they use toys such as LEGO or puzzles or short assembly durations which may not show the effects of AR on the participant for longer assembly processes. The objective of this research is to design a developers-based algorithmic conversion of content in paper manual to AR-based manual, to develop a modified paper manual and AR-based manual for mobile robot assembly, and to evaluate the performance of paper manual, modified paper manual, and AR-based manual in mobile robot assembly. In this research, the mobile robot Turtlebot was used as the testbench which is a widely used mobile robot in research and requires approximately 3 hours for assembly. To develop the content for AR-based manual, a developers-based algorithmic technique from literature was adopted for textual instructions and modified to extract and convert visual information from paper manual. A study was then conducted to evaluate the effectiveness of three types of manuals which are paper manual, modified paper manual, and AR-based manual on participants’ assembly performance. Overall, participants using AR-based manual completed the assembly faster by 21.72% while modified paper manual have an improvement of 7.5% compared to paper manual. In terms of number of assembly errors, AR-based manual and modified paper manual were found to have similar performance where the number of assembly errors is at 2.25 and 2 respectively while average assembly errors for paper manual is 5. NASA- TLX scoring showed higher mental workloads but lower frustration and effort from AR-based manual participants compared to other manuals. User satisfaction score is also highest for AR-based manual participants from the Likert-scale questionnaire. The contribution of this study is on the introduction of buffer steps during conversion of paper to AR-based manual which can be adopted for other paper manuals and the evaluation of participants’ performance using longer and more complex assembly tasks. AR-based manual participants were also concluded to have an overall better performance. 2022 Thesis http://eprints.utm.my/id/eprint/102515/ http://eprints.utm.my/id/eprint/102515/1/KohYeShengMSKE2022.pdf application/pdf en public http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:152292 masters Universiti Teknologi Malaysia, Faculty of Engineering - School of Electrical Engineering Faculty of Engineering - School of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TK Electrical engineering Electronics Nuclear engineering
spellingShingle	TK Electrical engineering Electronics Nuclear engineering Koh, Ye Sheng Mobile augmented reality for mobile robot assembly manual
description	In industrial operations such as assembly tasks, manuals or guidebooks are commonly used to convey information via visual methods in the form of text, pictures or videos and more recently Augmented Reality (AR) which has gained traction in recent years. However, several researchers highlighted their studies may not accurately represent actual assembly scenarios in terms of complexity as they use toys such as LEGO or puzzles or short assembly durations which may not show the effects of AR on the participant for longer assembly processes. The objective of this research is to design a developers-based algorithmic conversion of content in paper manual to AR-based manual, to develop a modified paper manual and AR-based manual for mobile robot assembly, and to evaluate the performance of paper manual, modified paper manual, and AR-based manual in mobile robot assembly. In this research, the mobile robot Turtlebot was used as the testbench which is a widely used mobile robot in research and requires approximately 3 hours for assembly. To develop the content for AR-based manual, a developers-based algorithmic technique from literature was adopted for textual instructions and modified to extract and convert visual information from paper manual. A study was then conducted to evaluate the effectiveness of three types of manuals which are paper manual, modified paper manual, and AR-based manual on participants’ assembly performance. Overall, participants using AR-based manual completed the assembly faster by 21.72% while modified paper manual have an improvement of 7.5% compared to paper manual. In terms of number of assembly errors, AR-based manual and modified paper manual were found to have similar performance where the number of assembly errors is at 2.25 and 2 respectively while average assembly errors for paper manual is 5. NASA- TLX scoring showed higher mental workloads but lower frustration and effort from AR-based manual participants compared to other manuals. User satisfaction score is also highest for AR-based manual participants from the Likert-scale questionnaire. The contribution of this study is on the introduction of buffer steps during conversion of paper to AR-based manual which can be adopted for other paper manuals and the evaluation of participants’ performance using longer and more complex assembly tasks. AR-based manual participants were also concluded to have an overall better performance.
format	Thesis
qualification_level	Master's degree
author	Koh, Ye Sheng
author_facet	Koh, Ye Sheng
author_sort	Koh, Ye Sheng
title	Mobile augmented reality for mobile robot assembly manual
title_short	Mobile augmented reality for mobile robot assembly manual
title_full	Mobile augmented reality for mobile robot assembly manual
title_fullStr	Mobile augmented reality for mobile robot assembly manual
title_full_unstemmed	Mobile augmented reality for mobile robot assembly manual
title_sort	mobile augmented reality for mobile robot assembly manual
granting_institution	Universiti Teknologi Malaysia, Faculty of Engineering - School of Electrical Engineering
granting_department	Faculty of Engineering - School of Electrical Engineering
publishDate	2022
url	http://eprints.utm.my/id/eprint/102515/1/KohYeShengMSKE2022.pdf
_version_	1776100941398802432

Mobile augmented reality for mobile robot assembly manual

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