| This dissertation is concerned with graphical interfaces to improve equipment control in unstructured environments such as construction, demolition, mining, and facility/infrastructure maintenance. Initial evidence indicates that graphical representation of equipment and work environments would enhance equipment control by providing better spatial perception to the operator. Real-time simulation and task planning with graphical models can also ensure safe and reliable operation of equipment. In addition, graphical interfaces can assist the operator to plan, measure, and record work progress by integrating design or as-built CAD databases with graphical models of equipment and work environments. The use of graphical models for equipment control in unstructured environments, however, has limitations, because it is very difficult to generate exact graphical models in such a quickly changing environment. The main objectives of this study were to develop principles for design of, and to validate the usefulness of graphical interfaces for equipment control in unstructured environments. The design principles were derived based on general literature and case studies of the existing graphical control interface systems. The graphical control interface for a tele-operated clinker clearing robot was then designed and implemented based on the derived principles. The developed graphical interface was tested and evaluated, and the implementation was analyzed with respect to the derived principles. The quantitative test results of the graphical control interface for the tele-operated clinker clearing robot validated the usefulness of graphical interfaces for equipment control in unstructured environments. The design principles were also verified with the test results. |
