1,182 research outputs found

    A Development of Dynamic Deforming Algorithms for 3D Shape Modeling with Generation of Interactive Force Sensation

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    PROCEEDINGS OF IEEE VIRTUAL REALITY ANNUAL INTERNATIONAL SYMPOSIU

    Mangled Mantra: grotesque sound in the visual arts

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    This research paper examines how sound, namely the sound of the voice, functions as grotesque within the visual arts. The paper explores a number of ideas that frame the grotesque as a distorting, liminal force that works upon threshold areas to merge and combine unlikely forms. My research considers how vocal sounds might be viewed in relation to such a framework, by looking at my own and others work that use abstracted, non-linguistic vocalisations that have been altered through audio processing to produce a grotesque mode of voice. The project explores how this grotesque vocal sound can be incorporated into musical composition, and how these compositions can then be used as the basis to inform a range of visual work such as painting, drawing, objects, and video. In doing this, the research uses the metaphor of ventriloquism to examine how the grotesque voice might be seen to ‘speak’ through various visual art works

    Prevalence of haptic feedback in robot-mediated surgery : a systematic review of literature

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    © 2017 Springer-Verlag. This is a post-peer-review, pre-copyedit version of an article published in Journal of Robotic Surgery. The final authenticated version is available online at: https://doi.org/10.1007/s11701-017-0763-4With the successful uptake and inclusion of robotic systems in minimally invasive surgery and with the increasing application of robotic surgery (RS) in numerous surgical specialities worldwide, there is now a need to develop and enhance the technology further. One such improvement is the implementation and amalgamation of haptic feedback technology into RS which will permit the operating surgeon on the console to receive haptic information on the type of tissue being operated on. The main advantage of using this is to allow the operating surgeon to feel and control the amount of force applied to different tissues during surgery thus minimising the risk of tissue damage due to both the direct and indirect effects of excessive tissue force or tension being applied during RS. We performed a two-rater systematic review to identify the latest developments and potential avenues of improving technology in the application and implementation of haptic feedback technology to the operating surgeon on the console during RS. This review provides a summary of technological enhancements in RS, considering different stages of work, from proof of concept to cadaver tissue testing, surgery in animals, and finally real implementation in surgical practice. We identify that at the time of this review, while there is a unanimous agreement regarding need for haptic and tactile feedback, there are no solutions or products available that address this need. There is a scope and need for new developments in haptic augmentation for robot-mediated surgery with the aim of improving patient care and robotic surgical technology further.Peer reviewe

    PROTOTYPING PLATEAU GEHRY_CONNECTIVES : Reading Frank Gehry’s experiments through Deleuze and Guattari

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    This thesis attempts to describe and interpret the design practice of an American architect, Frank O. Gehry through concepts developed by French philosopher Gilles Deleuze and his collaborator, French psychotherapist, philosopher and activist, Félix Guattari. At the same time, prototyping a website-based interactive project called PLATEAU GEHRY_CONNECTIVES, it explores an alternative form for the Doctoral thesis. In addition to connections with visual arts, such as painting and cinema, the experimental project PLATEAU GEHRY_CONNECTIVES includes references to concepts and phenomena from various areas of knowledge revealing distinctive, unusual qualities of Gehry’s creative approach in the production of design artefacts. The thesis documents and discusses means of representation in architectural design fused into the specific creative culture of Frank O. Gehry. It notices that the discourse in architectural theory and practice, often neglects what occurs on a particular molecular level of the architectural design process. It shows that elements of micro-level of design procedures render Gehry’s idiosyncratic design phenomena intelligible and perceptible in a new way. It claims that it has been possible because Deleuze and Guattari’s concepts become perceptibly operational in the interpretation of such phenomena, at the level of elementary units of Gehry’s design procedures. Moreover, through this close-up perspective, the thesis’ investigations identify certain similarities in the operational modes of the architect and the painter. It demonstrates how Gehry, who has anchored his interest in painting, and specifically in what he defined as ‘immediacy in painting,’ was able to transform the practice of architectural drawing from projective to a cognitive one. It also shows, how the architect re-defines the commonly applied projective geometries from passive, arbitrary role to an active agent, and how the architect links drawing practice with the construction process on a new, almost palpable level. While stressing its the manual character, the thesis demonstrates that Gehry’s explorative culture of challenging means of representation employed in architectural design production facilitates the re-disciplining of architecture culminating in the integration of the CATIA system in the design procedures. This study of Gehry’s design actions and strategies can help the reader to understand the significance of experimental and intuitive design practices. The thesis proposes the Deleuzian interpretation of Gehry’s experiments in the aesthetics of design thinking and acting. It renders perceptions of patterns, according to which, other design practices can operate

    Manipulation Planning for Forceful Human-Robot-Collaboration

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    This thesis addresses the problem of manipulation planning for forceful human-robot collaboration. Particularly, the focus is on the scenario where a human applies a sequence of changing external forces through forceful operations (e.g. cutting a circular piece off a board) on an object that is grasped by a cooperative robot. We present a range of planners that 1) enable the robot to stabilize and position the object under the human applied forces by exploiting supports from both the object-robot and object-environment contacts; 2) improve task efficiency by minimizing the need of configuration and grasp changes required by the changing external forces; 3) improve human comfort during the forceful interaction by optimizing the defined comfort criteria. We first focus on the instance of using only robotic grasps, where the robot is supposed to grasp/regrasp the object multiple times to keep it stable under the changing external forces. We introduce a planner that can generate an efficient manipulation plan by intelligently deciding when the robot should change its grasp on the object as the human applies the forces, and choosing subsequent grasps such that they minimize the number of regrasps required in the long-term. The planner searches for such an efficient plan by first finding a minimal sequence of grasp configurations that are able to keep the object stable under the changing forces, and then generating connecting trajectories to switch between the planned configurations, i.e. planning regrasps. We perform the search for such a grasp (configuration) sequence by sampling stable configurations for the external forces, building an operation graph using these stable configurations and then searching the operation graph to minimize the number of regrasps. We solve the problem of bimanual regrasp planning under the assumption of no support surface, enabling the robot to regrasp an object in the air by finding intermediate configurations at which both the bimanual and unimanual grasps can hold the object stable under gravity. We present a variety of experiments to show the performance of our planner, particularly in minimizing the number of regrasps for forceful manipulation tasks and planning stable regrasps. We then explore the problem of using both the object-environment contacts and object-robot contacts, which enlarges the set of stable configurations and thus boosts the robot’s capability in stabilizing the object under external forces. We present a planner that can intelligently exploit the environment’s and robot’s stabilization capabilities within a unified planning framework to search for a minimal number of stable contact configurations. A big computational bottleneck in this planner is due to the static stability analysis of a large number of candidate configurations. We introduce a containment relation between different contact configurations, to efficiently prune the stability checking process. We present a set of real-robot and simulated experiments illustrating the effectiveness of the proposed framework. We present a detailed analysis of the proposed containment relationship, particularly in improving the planning efficiency. We present a planning algorithm to further improve the cooperative robot behaviour concerning human comfort during the forceful human-robot interaction. Particularly, we are interested in empowering the robot with the capability of grasping and positioning the object not only to ensure the object stability against the human applied forces, but also to improve human experience and comfort during the interaction. We address human comfort as the muscular activation level required to apply a desired external force, together with the human spatial perception, i.e. the so-called peripersonal-space comfort during the interaction. We propose to maximize both comfort metrics to optimize the robot and object configuration such that the human can apply a forceful operation comfortably. We present a set of human-robot drilling and cutting experiments which verify the efficiency of the proposed metrics in improving the overall comfort and HRI experience, without compromising the force stability. In addition to the above planning work, we present a conic formulation to approximate the distribution of a forceful operation in the wrench space with a polyhedral cone, which enables the planner to efficiently assess the stability of a system configuration even in the presence of force uncertainties that are inherent in the human applied forceful operations. We also develop a graphical user interface, which human users can easily use to specify various forceful tasks, i.e. sequences of forceful operations on selected objects, in an interactive manner. The user interface ties in human task specification, on-demand manipulation planning and robot-assisted fabrication together. We present a set of human-robot experiments using the interface demonstrating the feasibility of our system. In short, in this thesis we present a series of planners for object manipulation under changing external forces. We show the object contacts with the robot and the environment enable the robot to manipulate an object under external forces, while making the most of the object contacts has the potential to eliminate redundant changes during manipulation, e.g. regrasp, and thus improve task efficiency and smoothness. We also show the necessity of optimizing human comfort in planning for forceful human-robot manipulation tasks. We believe the work presented here can be a key component in a human-robot collaboration framework

    Women\u27s Studies Newsletter March 1983

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    Women\u27s Studies newsletter March 1983. Contents: INTRODUCTION, Mary Schilling; THE QUEST FOR EQUALITY IN THE 1980\u27s, Freda Solomon; TELL HER SHE LOOKS GREAT!, Melissa von Stade; STAGE ONE OF A CAREER IN BOOK CONSERVATION, Susan Sayre Batton; THE DOUBLE STANDARD AT DENISON, Colette Picard; SEX DIFFERENCES IN MATH ACHIEVEMENT, Becky Pschirrer; THOUGHTS ON WOMEN AND THE PEACE MOVEMENT, Barbara Cohen; WOMEN, PEACE AND FREEDOM, Patty Morgan; THE BIOLOGY OF WOMEN INTRODUCTION, Bonnie Lamvermeyer; FETOSCOPY: APPLICATIONS AND POSSIBILITIES, Janet Wenzlau; THE Rh FACTOR: POTENTIAL COMPLICATIONS DURING PREGNANCY,Carol Sue Bernardo; SURGICAL TREATMENTS FOR BREAST CANCER, Katie Hinckley; ANNOUNCEMENTS OF SCHOLARLY ACTIVITIES OF WOMEN AND WOMEN\u27S STUDIES FACULTY; A PREVIEW OF WOMEN\u27S WEEK \u2783

    Tactile force-sensing for dynamic gripping using piezoelectric force- sensors

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    Thesis (M. Tech.) -- Central University of Technology, Free State, 200

    Real-time hybrid cutting with dynamic fluid visualization for virtual surgery

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    It is widely accepted that a reform in medical teaching must be made to meet today's high volume training requirements. Virtual simulation offers a potential method of providing such trainings and some current medical training simulations integrate haptic and visual feedback to enhance procedure learning. The purpose of this project is to explore the capability of Virtual Reality (VR) technology to develop a training simulator for surgical cutting and bleeding in a general surgery

    Design and Implementation of an Interactive Surface System with Controllable Shape and Softness

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    「平面的で硬い」という従来のディスプレイの物理的制約は、ユーザが3次元的な形状を有するデータを扱う場合や触覚的な情報を有するデータと対話する場合に様々な制限を与えている. また, 平面的なディスプレイ上で複雑な立体形状を閲覧・モデリングするためには, 頻繁な視点移動や複雑な頂点操作等を伴うGUI操作が必要である. このような問題を解決するため, 砂, 粘土のような非平面的・柔軟な素材をサーフェスに取り入れて, 従来のディスプレイにできない異なるインタラクションを可能にした研究が行われていたが, 一つのデバイスで異なる物理性質を表現できるディスプレイはあまり研究されていない.本研究は細かなパーティクルと気圧操作による硬さ制御技術に着目し, 硬度可変ディスプレイの実装を行った. 硬さ制御によって, 軟らかいときに形状の変形や, 用途に応じて形状を維持することもできる.このディスプレイの可能性を探るため, 硬さ制御を利用したモデリングアプリケーションを開発した. このアプリケーションでは, モデリング操作に応じて, 適切な硬さを選択する事ができ, モデルが完成した時にディスプレイを硬化し形状を維持させることが可能である.また, 深度カメラを用いることで, タッチ入力による彩色が可能になり, 作成したモデルをスキャンし, CADデータとして保存することもできる. さらに, 3Dプリンターで出力することも可能にした.このシステムは、従来のモデリング操作をより直感的する事ができるが, システム単独で形状を生成することができない. そこで, 本研究では粒子運搬技術を用いて, ディスプレイの形状アクチュエーション手法も提案する. この手法では, モデルの大まかな形状を生成することで, ユーザは形状の細部を自由にカスタマイズすることができる. この手法は, 硬さ制御技術と同じくパーティクルと空気アクチュエーションを用いているため, 低コストかつシンプルなシステムで実現することができる.電気通信大学201
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