Performance limitations of bilateral force reflection imposed by operator dynamic characteristics

A linearized, single-axis model is presented for bilateral force reflection which facilitates investigation into the effects of manipulator, operator, and task dynamics, as well as time delay and gain scaling. Structural similarities are noted between this model and impedance control. Stability results based upon this model impose requirements upon operator dynamic characteristics as functions of system time delay and environmental stiffness. An experimental characterization reveals the limited capabilities of the human operator to meet these requirements. A procedure is presented for determining the force reflection gain scaling required to provide stability and acceptable operator workload. This procedure is applied to a system with dynamics typical of a space manipulator, and the required gain scaling is presented as a function of environmental stiffness

Bilateral Control with Task Learning and Adaptation to Environment

The Motion Copying System permits to save an operator task in terms of position and force references for the action reproduction whenever the operator isn't available or to train new users. This thesis analyzes the MCS design and limitations, the Bilateral Control System on which the MCS is based, and proposes a model to adapt the saved task to new environmental conditions

Parametric Representation of Tactile Numerosity in Working Memory

Estimated numerosity perception is processed in an approximate number system (ANS) that resembles the perception of a continuous magnitude. The ANS consists of a right lateralized frontoparietal network comprising the lateral prefrontal cortex (LPFC) and the intraparietal sulcus. Although the ANS has been extensively investigated, only a few studies have focused on the mental representation of retained numerosity estimates. Specifically, the underlying mechanisms of estimated numerosity working memory (WM) is unclear. Besides numerosities, as another form of abstract quantity, vibrotactile WM studies provide initial evidence that the right LPFC takes a central role in maintaining magnitudes. In the present fMRI multivariate pattern analysis study, we designed a delayed match-to-numerosity paradigm to test what brain regions retain approximate numerosity memoranda. In line with parametric WM results, our study found numerosity-specific WM representations in the right LPFC as well as in the supplementary motor area and the left premotor cortex extending into the superior frontal gyrus, thus bridging the gap in abstract quantity WM literature

Spatiotemporal Integration in Somatosensory Perception: Effects of Sensory Saltation on Pointing at Perceived Positions on the Body Surface

In the past, sensory saltation phenomena (Geldard and Sherrick, 1972) have been used repeatedly to analyze the spatiotemporal integration capacity of somatosensory and other sensory mechanisms by means of their psychophysical characteristic. The core phenomenon consists in a systematic mislocalization of one tactile stimulus (the attractee) toward another successive tactile stimulus (the attractant) presented at another location, increasing with shorter intervals. In a series of four experiments, sensory saltation characteristics were studied at the forearm and the abdomen. Participants reported the perceived positions of attractees, attractants, and reference stimuli by pointing. In general, saltation characteristics compared well to those reported in previous studies, but we were able to gain several new insights regarding this phenomenon: (a) the attractee–attractant interval did not exclusively affect the perceived attractee position, but also the perceived attractant position; (b) saltation characteristics were very similar at different body sites and orientations, but did show differences suggesting anisotropy (direction-dependency) in the underlying integration processes; (c) sensory saltation could be elicited with stimulation patterns crossing the body midline on the abdomen. In addition to the saltation-specific results, our experiments demonstrate that pointing reports of perceived positions on the body surface generally show pronounced systematic biases compared to veridical positions, moderate intraindividual consistency, and a high degree of inter-individual variability. Finally, we address methodological and terminological controversies concerning the sensory saltation paradigm and discuss its possible neurophysiological basis

Bilevel shared control for teleoperators

A shared system is disclosed for robot control including integration of the human and autonomous input modalities for an improved control. Autonomously planned motion trajectories are modified by a teleoperator to track unmodelled target motions, while nominal teleoperator motions are modified through compliance to accommodate geometric errors autonomously in the latter. A hierarchical shared system intelligently shares control over a remote robot between the autonomous and teleoperative portions of an overall control system. Architecture is hierarchical, and consists of two levels. The top level represents the task level, while the bottom, the execution level. In space applications, the performance of pure teleoperation systems depend significantly on the communication time delays between the local and the remote sites. Selection/mixing matrices are provided with entries which reflect how each input's signals modality is weighted. The shared control minimizes the detrimental effects caused by these time delays between earth and space

Exploring Robot Teleoperation in Virtual Reality

This thesis presents research on VR-based robot teleoperation with a focus on remote environment visualisation in virtual reality, the effects of remote environment reconstruction scale in virtual reality on the human-operator's ability to control the robot and human-operator's visual attention patterns when teleoperating a robot from virtual reality. A VR-based robot teleoperation framework was developed, it is compatible with various robotic systems and cameras, allowing for teleoperation and supervised control with any ROS-compatible robot and visualisation of the environment through any ROS-compatible RGB and RGBD cameras. The framework includes mapping, segmentation, tactile exploration, and non-physically demanding VR interface navigation and controls through any Unity-compatible VR headset and controllers or haptic devices. Point clouds are a common way to visualise remote environments in 3D, but they often have distortions and occlusions, making it difficult to accurately represent objects' textures. This can lead to poor decision-making during teleoperation if objects are inaccurately represented in the VR reconstruction. A study using an end-effector-mounted RGBD camera with OctoMap mapping of the remote environment was conducted to explore the remote environment with fewer point cloud distortions and occlusions while using a relatively small bandwidth. Additionally, a tactile exploration study proposed a novel method for visually presenting information about objects' materials in the VR interface, to improve the operator's decision-making and address the challenges of point cloud visualisation. Two studies have been conducted to understand the effect of virtual world dynamic scaling on teleoperation flow. The first study investigated the use of rate mode control with constant and variable mapping of the operator's joystick position to the speed (rate) of the robot's end-effector, depending on the virtual world scale. The results showed that variable mapping allowed participants to teleoperate the robot more effectively but at the cost of increased perceived workload. The second study compared how operators used a virtual world scale in supervised control, comparing the virtual world scale of participants at the beginning and end of a 3-day experiment. The results showed that as operators got better at the task they as a group used a different virtual world scale, and participants' prior video gaming experience also affected the virtual world scale chosen by operators. Similarly, the human-operator's visual attention study has investigated how their visual attention changes as they become better at teleoperating a robot using the framework. The results revealed the most important objects in the VR reconstructed remote environment as indicated by operators' visual attention patterns as well as their visual priorities shifts as they got better at teleoperating the robot. The study also demonstrated that operators’ prior video gaming experience affects their ability to teleoperate the robot and their visual attention behaviours

Simulation of 1+1 dimensional surface growth and lattices gases using GPUs

Restricted solid on solid surface growth models can be mapped onto binary lattice gases. We show that efficient simulation algorithms can be realized on GPUs either by CUDA or by OpenCL programming. We consider a deposition/evaporation model following Kardar-Parisi-Zhang growth in 1+1 dimensions related to the Asymmetric Simple Exclusion Process and show that for sizes, that fit into the shared memory of GPUs one can achieve the maximum parallelization speedup ~ x100 for a Quadro FX 5800 graphics card with respect to a single CPU of 2.67 GHz). This permits us to study the effect of quenched columnar disorder, requiring extremely long simulation times. We compare the CUDA realization with an OpenCL implementation designed for processor clusters via MPI. A two-lane traffic model with randomized turning points is also realized and the dynamical behavior has been investigated.Comment: 20 pages 12 figures, 1 table, to appear in Comp. Phys. Com

Bilateral gain control; an "innate predisposition" for all sorts of things.

Empirical studies have revealed remarkable perceptual organization in neonates. Newborn behavioral distinctions have often been interpreted as implying functionally specific modular adaptations, and are widely cited as evidence supporting the nativist agenda. In this theoretical paper, we approach newborn perception and attention from an embodied, developmental perspective. At the mechanistic level, we argue that a generative mechanism based on mutual gain control between bilaterally corresponding points may underly a number of functionally defined "innate predispositions" related to spatial-configural perception. At the computational level, bilateral gain control implements beamforming, which enables spatial-configural tuning at the front end sampling stage. At the psychophysical level, we predict that selective attention in newborns will favor contrast energy which projects to bilaterally corresponding points on the neonate subject's sensor array. The current work extends and generalizes previous work to formalize the bilateral correlation model of newborn attention at a high level, and demonstrate in minimal agent-based simulations how bilateral gain control can enable a simple, robust and "social" attentional bias