R package preparation

#install packages
library(ahpsurvey)
library(dplyr)
library(kableExtra)
library(ggplot2)

Data inputs

Expert responses (raw data) on General Category

Safety_Ergonomics <- c(-6,-6,-4,-2,1,-9,-9,1,9,-9,-7,-3,-4,-2,-7)
Safety_Functionality <- c(-3,1,-6,1,-4,-9,-9,1,6,-9,-6,-5,7,-3,-7)
Safety_Interfaces <- c(-8,-5,-4,-2,-6,-9,-9,1,9,-9,-9,-5,8,-3,-7)
Ergonomics_Functionality  <- c(3,2,-5,2,-4,-3,5,1,9,3,3,-2,8,-2,5)
Ergonomics_Interfaces <- c(-4,-4,3,2,-6,4,4,1,9,1,-4,-4,8,-3,5)
Functionality_Interfaces <- c(-7,-6,5,1,-6,9,-3,1,1,1,-6,-2,1,1,3)



general <- data.frame(Safety_Ergonomics, Safety_Functionality, 
                      Safety_Interfaces, Ergonomics_Functionality, 
                      Ergonomics_Interfaces,Functionality_Interfaces)

colnames(general) <- c("Safety - Ergonomics" , 
                       "Safety - Functionality",
                       "Safety - Interfaces" , 
                       "Ergonomics - Functionality",
                       "Ergonomics - Interfaces", 
                       "Functionality - Interfaces")

rownames(general) <-  c("Expert #1", "Expert #2" , "Expert #3","Expert #4",
                        "Expert #6", "Expert #8" , "Expert #10", "Expert #11",
                        "Expert #12","Expert #13", "Expert #14", "Expert #15",
                        "Expert #17",  "Expert #19", "Expert #20")

general

##            Safety - Ergonomics Safety - Functionality Safety - Interfaces
## Expert #1                   -6                     -3                  -8
## Expert #2                   -6                      1                  -5
## Expert #3                   -4                     -6                  -4
## Expert #4                   -2                      1                  -2
## Expert #6                    1                     -4                  -6
## Expert #8                   -9                     -9                  -9
## Expert #10                  -9                     -9                  -9
## Expert #11                   1                      1                   1
## Expert #12                   9                      6                   9
## Expert #13                  -9                     -9                  -9
## Expert #14                  -7                     -6                  -9
## Expert #15                  -3                     -5                  -5
## Expert #17                  -4                      7                   8
## Expert #19                  -2                     -3                  -3
## Expert #20                  -7                     -7                  -7
##            Ergonomics - Functionality Ergonomics - Interfaces
## Expert #1                           3                      -4
## Expert #2                           2                      -4
## Expert #3                          -5                       3
## Expert #4                           2                       2
## Expert #6                          -4                      -6
## Expert #8                          -3                       4
## Expert #10                          5                       4
## Expert #11                          1                       1
## Expert #12                          9                       9
## Expert #13                          3                       1
## Expert #14                          3                      -4
## Expert #15                         -2                      -4
## Expert #17                          8                       8
## Expert #19                         -2                      -3
## Expert #20                          5                       5
##            Functionality - Interfaces
## Expert #1                          -7
## Expert #2                          -6
## Expert #3                           5
## Expert #4                           1
## Expert #6                          -6
## Expert #8                           9
## Expert #10                         -3
## Expert #11                          1
## Expert #12                          1
## Expert #13                          1
## Expert #14                         -6
## Expert #15                         -2
## Expert #17                          1
## Expert #19                          1
## Expert #20                          3

Expert responses (raw data) on Safety Category

MotionPlanning_RobotSystems <- c(4,3,-4,-2,1,4,5,1,3,1,-4,-3,-6,1,5)
Motionplanning_OrganizationalMeasures <- c(4,1,-2,4,-4,-4,-5,9,-7,1,-4,-2,-4,-3,-5)
RobotSystems_OrganizationalMeasures <- c(1,-3,3,4,-4,4,-8,9,-7,1,1,4,6,-3,-7)

safety <- data.frame(MotionPlanning_RobotSystems, 
                      Motionplanning_OrganizationalMeasures, 
                      RobotSystems_OrganizationalMeasures)

colnames(safety) <- c("Motion planning - Robot systems", 
                       "Motion planning - Organizational measures",
                       "Robot systems - Organizational measures")

rownames(safety) <- c("Expert #1", "Expert #2" , "Expert #3","Expert #4",
                        "Expert #6", "Expert #8" , "Expert #10", "Expert #11",
                        "Expert #12","Expert #13", "Expert #14", "Expert #15",
                        "Expert #17",  "Expert #19", "Expert #20")

safety

##            Motion planning - Robot systems
## Expert #1                                4
## Expert #2                                3
## Expert #3                               -4
## Expert #4                               -2
## Expert #6                                1
## Expert #8                                4
## Expert #10                               5
## Expert #11                               1
## Expert #12                               3
## Expert #13                               1
## Expert #14                              -4
## Expert #15                              -3
## Expert #17                              -6
## Expert #19                               1
## Expert #20                               5
##            Motion planning - Organizational measures
## Expert #1                                          4
## Expert #2                                          1
## Expert #3                                         -2
## Expert #4                                          4
## Expert #6                                         -4
## Expert #8                                         -4
## Expert #10                                        -5
## Expert #11                                         9
## Expert #12                                        -7
## Expert #13                                         1
## Expert #14                                        -4
## Expert #15                                        -2
## Expert #17                                        -4
## Expert #19                                        -3
## Expert #20                                        -5
##            Robot systems - Organizational measures
## Expert #1                                        1
## Expert #2                                       -3
## Expert #3                                        3
## Expert #4                                        4
## Expert #6                                       -4
## Expert #8                                        4
## Expert #10                                      -8
## Expert #11                                       9
## Expert #12                                      -7
## Expert #13                                       1
## Expert #14                                       1
## Expert #15                                       4
## Expert #17                                       6
## Expert #19                                      -3
## Expert #20                                      -7

Expert responses (raw data) on ERGONOMICS Category

PhysicalErgonomics_CognitiveErgonomics <- c(-3,1,1,1,1,1,1,-5,9,-3,-5,4,8,3,7)


ergonomics <- data.frame(PhysicalErgonomics_CognitiveErgonomics)

colnames(ergonomics) <- c("Physical ergonomics - Cognitive ergonomics")

rownames(ergonomics) <- c("Expert #1", "Expert #2" , "Expert #3","Expert #4",
                        "Expert #6", "Expert #8" , "Expert #10", "Expert #11",
                        "Expert #12","Expert #13", "Expert #14", "Expert #15",
                        "Expert #17",  "Expert #19", "Expert #20")

ergonomics

##            Physical ergonomics - Cognitive ergonomics
## Expert #1                                          -3
## Expert #2                                           1
## Expert #3                                           1
## Expert #4                                           1
## Expert #6                                           1
## Expert #8                                           1
## Expert #10                                          1
## Expert #11                                         -5
## Expert #12                                          9
## Expert #13                                         -3
## Expert #14                                         -5
## Expert #15                                          4
## Expert #17                                          8
## Expert #19                                          3
## Expert #20                                          7

Expert responses (raw data) on FUNCTIONALITY Category

System_Information <- c(-4,1,2,2,1,-3,-3,1,-6,3,-4,-2,-4,1,-5)
System_Task <- c(1,-3,4,1,-2,-2,-3,1,-6,3,-3,-4,8,1,7)
System_ErrorHandling <- c(-2,3,5,-2,-3,4,5,1,-6,3,1,-3,8,1,5)
System_Assistance <- c(-3,2,3,-2,-3,3,-4,1,-6,-3,-6,-3,6,1,7)
Information_Task <- c(4,-2,2,2,-3,2,3,1,8,-6,2,-4,8,1,3)
Information_ErrorHandling <- c(3,5,4,1,-3,3,5,1,6,1,5,-2,8,1,5)
Information_Assistance <- c(3,1,2,-3,-4,4,-3,1,7,-6,-3,-2,1,1,5)
Task_ErrorHandling <- c(-2,2,3,2,-3,3,5,1,-7,4,4,-3,-8,1,-5)
Task_Assistance <- c(-3,2,-2,-3,-4,2,-3,1,-5,-4,-4,2,-8,1,-5)
ErrorHandling_Assistance <- c(-2,-4,-3,3,1,1,-6,1,-6,-7,-5,-4,-8,1,7)

functionality <- data.frame(System_Information,System_Task,System_ErrorHandling,
                            System_Assistance,Information_Task,Information_ErrorHandling,
                            Information_Assistance,Task_ErrorHandling,Task_Assistance,
                            ErrorHandling_Assistance)

colnames(functionality) <- c("System - Information","System - Task","System - Error handling",
                          "System - Assistance","Information - Task","Information - Error handling",
                          "Information - Assistance","Task - Error handling","Task - Assistance",
                          "Error handling - Assistance")

rownames(functionality) <- c("Expert #1", "Expert #2" , "Expert #3","Expert #4",
                             "Expert #6", "Expert #8" , "Expert #10", "Expert #11",
                             "Expert #12","Expert #13", "Expert #14", "Expert #15",
                             "Expert #17",  "Expert #19", "Expert #20")

functionality

##            System - Information System - Task System - Error handling
## Expert #1                    -4             1                      -2
## Expert #2                     1            -3                       3
## Expert #3                     2             4                       5
## Expert #4                     2             1                      -2
## Expert #6                     1            -2                      -3
## Expert #8                    -3            -2                       4
## Expert #10                   -3            -3                       5
## Expert #11                    1             1                       1
## Expert #12                   -6            -6                      -6
## Expert #13                    3             3                       3
## Expert #14                   -4            -3                       1
## Expert #15                   -2            -4                      -3
## Expert #17                   -4             8                       8
## Expert #19                    1             1                       1
## Expert #20                   -5             7                       5
##            System - Assistance Information - Task Information - Error handling
## Expert #1                   -3                  4                            3
## Expert #2                    2                 -2                            5
## Expert #3                    3                  2                            4
## Expert #4                   -2                  2                            1
## Expert #6                   -3                 -3                           -3
## Expert #8                    3                  2                            3
## Expert #10                  -4                  3                            5
## Expert #11                   1                  1                            1
## Expert #12                  -6                  8                            6
## Expert #13                  -3                 -6                            1
## Expert #14                  -6                  2                            5
## Expert #15                  -3                 -4                           -2
## Expert #17                   6                  8                            8
## Expert #19                   1                  1                            1
## Expert #20                   7                  3                            5
##            Information - Assistance Task - Error handling Task - Assistance
## Expert #1                         3                    -2                -3
## Expert #2                         1                     2                 2
## Expert #3                         2                     3                -2
## Expert #4                        -3                     2                -3
## Expert #6                        -4                    -3                -4
## Expert #8                         4                     3                 2
## Expert #10                       -3                     5                -3
## Expert #11                        1                     1                 1
## Expert #12                        7                    -7                -5
## Expert #13                       -6                     4                -4
## Expert #14                       -3                     4                -4
## Expert #15                       -2                    -3                 2
## Expert #17                        1                    -8                -8
## Expert #19                        1                     1                 1
## Expert #20                        5                    -5                -5
##            Error handling - Assistance
## Expert #1                           -2
## Expert #2                           -4
## Expert #3                           -3
## Expert #4                            3
## Expert #6                            1
## Expert #8                            1
## Expert #10                          -6
## Expert #11                           1
## Expert #12                          -6
## Expert #13                          -7
## Expert #14                          -5
## Expert #15                          -4
## Expert #17                          -8
## Expert #19                           1
## Expert #20                           7

Expert responses (raw data) on INTERFACES Category

Visual_Voice <- c(-7,4,-3,1,1,-5,3,1,-9,-5,-8,-2,2,-3,-7)
Visual_Haptics <- c(-4,2,-6,1,1,-2,-4,1,-9,-5,-5,-5,-8,-2,1)
Visual_Gesture <- c(-3,7,-4,1,1,-2,-5,1,-9,-5,-3,-5,-8,1,-5)
Voice_Haptics <- c(3,-4,-3,1,1,1,-4,1,7,4,5,-5,-9,1,1)
Voice_Gesture <- c(2,2,2,1,1,1,-4,1,7,-4,7,-4,-9,1,-5)
Haptics_Gesture <- c(-2,6,4,1,1,1,-4,1,-7,-2,2,4,9,1,-3)


interfaces <- data.frame(Visual_Voice,Visual_Haptics,Visual_Gesture,
                            Voice_Haptics,Voice_Gesture,Haptics_Gesture)

colnames(interfaces) <- c("Visual - Voice","Visual - Haptics",
                             "Visual - Gesture","Voice - Haptics",
                             "Voice - Gesture","Haptics - Gesture")

rownames(interfaces) <- c("Expert #1", "Expert #2" , "Expert #3","Expert #4",
                        "Expert #6", "Expert #8" , "Expert #10", "Expert #11",
                        "Expert #12","Expert #13", "Expert #14", "Expert #15",
                        "Expert #17",  "Expert #19", "Expert #20")
interfaces

##            Visual - Voice Visual - Haptics Visual - Gesture Voice - Haptics
## Expert #1              -7               -4               -3               3
## Expert #2               4                2                7              -4
## Expert #3              -3               -6               -4              -3
## Expert #4               1                1                1               1
## Expert #6               1                1                1               1
## Expert #8              -5               -2               -2               1
## Expert #10              3               -4               -5              -4
## Expert #11              1                1                1               1
## Expert #12             -9               -9               -9               7
## Expert #13             -5               -5               -5               4
## Expert #14             -8               -5               -3               5
## Expert #15             -2               -5               -5              -5
## Expert #17              2               -8               -8              -9
## Expert #19             -3               -2                1               1
## Expert #20             -7                1               -5               1
##            Voice - Gesture Haptics - Gesture
## Expert #1                2                -2
## Expert #2                2                 6
## Expert #3                2                 4
## Expert #4                1                 1
## Expert #6                1                 1
## Expert #8                1                 1
## Expert #10              -4                -4
## Expert #11               1                 1
## Expert #12               7                -7
## Expert #13              -4                -2
## Expert #14               7                 2
## Expert #15              -4                 4
## Expert #17              -9                 9
## Expert #19               1                 1
## Expert #20              -5                -3

Calculation of aggregated importance weights

Aggregated importance weights on General Category

atts <- c("Safety", "Ergonomics", "Functionality", "Interfaces")

important_weight_general <- general %>%
  ahp.mat(atts = atts, negconvert = TRUE) %>% 
  ahp.missing(atts, round = T, limit = T) %>%
  ahp.aggpref(atts, method = "arithmetic")

general_IW_table <- data.frame(important_weight_general)

colnames(general_IW_table) <- c("General Category")

rownames(general_IW_table) <- c("Safety", "Ergonomics", "Functionality", "Interfaces")

general_IW_table %>% mutate_if(is.numeric, round, digits=3)

##               General Category
## Safety                   0.469
## Ergonomics               0.151
## Functionality            0.207
## Interfaces               0.173

Aggregated importance weights on Safety Category

atts <- c("MotionPlanning", "RobotSystems", "OrganizationalMeasures")

important_weight_safety <- safety %>%
  ahp.mat(atts = atts, negconvert = TRUE) %>% 
    ahp.missing(atts, round = T, limit = T) %>%
  ahp.aggpref(atts, method = "arithmetic")

safety_IW_table <- data.frame(important_weight_safety)

colnames(safety_IW_table) <- c("Safety Category")

rownames(safety_IW_table) <- c("Motion Planning", "Robot Systems", "Organizational Measures")

safety_IW_table %>% mutate_if(is.numeric, round, digits=3)

##                         Safety Category
## Motion Planning                   0.353
## Robot Systems                     0.355
## Organizational Measures           0.291

Aggregated importance weights on ERGONOMICS Category

atts <- c("PhysicalErgonomics", "CognitiveErgonomics")

important_weight_ergonomics <- ergonomics %>%
  ahp.mat(atts = atts, negconvert = TRUE) %>% 
    ahp.missing(atts, round = T, limit = T) %>%
  ahp.aggpref(atts, method = "arithmetic")

ergonomics_IW_table <- data.frame(important_weight_ergonomics)

colnames(ergonomics_IW_table) <- c("Ergonomics Category")

rownames(ergonomics_IW_table) <- c("Physical ergonomics", "Cognitive ergonomics")

ergonomics_IW_table %>% mutate_if(is.numeric, round, digits=3)

##                      Ergonomics Category
## Physical ergonomics                0.464
## Cognitive ergonomics               0.536

Aggregated importance weights on FUNCTIONALITY Category

atts <- c("System", "Information","Task","ErrorHandling","Assistant")

important_weight_functionality <- functionality %>%
  ahp.mat(atts = atts, negconvert = TRUE) %>% 
    ahp.missing(atts, round = T, limit = T) %>%
  ahp.aggpref(atts, method = "arithmetic")

functionality_IW_table <- data.frame(important_weight_functionality)

colnames(functionality_IW_table) <- c("Functionality Category")

rownames(functionality_IW_table) <-c("System", "Information","Task","ErrorHandling","Assistant")

functionality_IW_table %>% mutate_if(is.numeric, round, digits=3)

##               Functionality Category
## System                         0.215
## Information                    0.152
## Task                           0.225
## ErrorHandling                  0.268
## Assistant                      0.140

Aggregated importance weights on INTERFACES Category

atts <- c("Visual", "Voice","Haptics","Gesture")

important_weight_interfaces <- interfaces %>%
  ahp.mat(atts = atts, negconvert = TRUE) %>% 
    ahp.missing(atts, round = T, limit = T) %>%
  ahp.aggpref(atts, method = "arithmetic")

interfaces_IW_table <- data.frame(important_weight_interfaces)

colnames(interfaces_IW_table) <- c("Interfaces Category")

rownames(interfaces_IW_table) <-c("Visual", "Voice","Haptics","Gesture")

interfaces_IW_table %>% mutate_if(is.numeric, round, digits=3)

##         Interfaces Category
## Visual                0.407
## Voice                 0.225
## Haptics               0.173
## Gesture               0.195

Calculation of Consistency ratio

Consistency ratio on General Category

atts <- c("Safety", "Ergonomics", "Functionality", "Interfaces")

filling.general <- general %>%
  ahp.mat(atts, negconvert = TRUE) %>%  
  ahp.missing(atts, round = T, limit = T)

cr_general <- filling.general %>% ahp.cr(atts)


cr.value.general <- round(mean(cr_general),3)
cr.value.general

## [1] 0.104

Consistency ratio on Safety Category

atts <- c("MotionPlanning", "RobotSystems", "OrganizationalMeasures")

filling.safety <- safety %>%
  ahp.mat(atts, negconvert = TRUE) %>%  
  ahp.missing(atts, round = T, limit = T)

cr_safety <- filling.safety %>% ahp.cr(atts)

cr.value.safety <- round(mean(cr_safety),3)
cr.value.safety

## [1] 0.197

Consistency ratio on ERGONOMICS Category

atts <- c("PhysicalErgonomics", "CognitiveErgonomics")

filling.ergonomics <- ergonomics %>%
  ahp.mat(atts, negconvert = TRUE) %>%  
  ahp.missing(atts, round = T, limit = T)

cr_ergonomics <- filling.ergonomics %>% ahp.cr(atts)

cr.value.ergonomics <- round(mean(cr_ergonomics),3)
cr.value.ergonomics

## [1] NaN

#Here, the consistency ratio of this ERGONOMICS category is NaN. This means that there is only one pairwise comparison between "Physical ergonomics" and "Cognitive ergonomics"; therefore, there is no inconsistency in expert responses.

Consistency ratio on FUNCTIONALITY Category

atts <- c("System", "Information","Task","ErrorHandling","Assistant")

filling.functionality <- functionality %>%
  ahp.mat(atts, negconvert = TRUE) %>%  
  ahp.missing(atts, round = T, limit = T)

cr_functionality <- filling.functionality %>% ahp.cr(atts)

cr.value.functionality <- round(mean(cr_functionality),3)
cr.value.functionality

## [1] 0.129

Consistency ratio on INTERFACES Category

atts <- c("Visual", "Voice","Haptics","Gesture")

filling.interfaces <- interfaces %>%
  ahp.mat(atts, negconvert = TRUE) %>%  
  ahp.missing(atts, round = T, limit = T)

cr_interfaces <- filling.interfaces %>% ahp.cr(atts)

cr.value.interfaces <- round(mean(cr_interfaces),3)
cr.value.interfaces

## [1] 0.104

Summary of Consistency Ratios

cr.value <- c(cr.value.general,cr.value.safety,cr.value.ergonomics,cr.value.functionality,cr.value.interfaces)
evaluation.category <- c("General category","Safety","Ergonomics","Functionality","interfaces")
cr.frame <- data.frame(evaluation.category, cr.value)
colnames(cr.frame) <- c("Evaluated categories", "Consistency Ratio")
cr.frame

##   Evaluated categories Consistency Ratio
## 1     General category             0.104
## 2               Safety             0.197
## 3           Ergonomics               NaN
## 4        Functionality             0.129
## 5           interfaces             0.104

#Here, the consistency ratio of this ERGONOMICS category is NaN. This means that there is only one pairwise comparison between "Physical ergonomics" and "Cognitive ergonomics"; therefore, there is no inconsistency in expert responses.

Dataset for Expert Elicitation on HEUROBOX with Analytical Hierarchy Process

Ainhoa Apraiz, Jose Antonio Mulet Alberola, Ganix Lasa, Maitane Mazmela, Hien Ngoc Nguyen

3/5/2023

R package preparation

Data inputs

Expert responses (raw data) on General Category

Expert responses (raw data) on Safety Category

Expert responses (raw data) on ERGONOMICS Category

Expert responses (raw data) on FUNCTIONALITY Category

Expert responses (raw data) on INTERFACES Category

Calculation of aggregated importance weights

Aggregated importance weights on General Category

Aggregated importance weights on Safety Category

Aggregated importance weights on ERGONOMICS Category

Aggregated importance weights on FUNCTIONALITY Category

Aggregated importance weights on INTERFACES Category

Calculation of Consistency ratio

Consistency ratio on General Category

Consistency ratio on Safety Category

Consistency ratio on ERGONOMICS Category

Consistency ratio on FUNCTIONALITY Category

Consistency ratio on INTERFACES Category

Summary of Consistency Ratios