Haptic teleoperation of mobile manipulator systems using virtual fixtures.

In order to make the task of controlling Mobile-Manipulator Systems (MMS) simpler, a novel command strategy that uses a single joystick is presented to replace the existing paradigm of using multiple joysticks. To improve efficiency and accuracy, virtual fixtures were implemented with the use of a haptic joystick. Instead of modeling the MMS as a single unit with three redundant degrees-of-freedom (DOF), the operator controls either the manipulator or the mobile base, with the command strategy choosing which one to move. The novel command strategy uses three modes of operation to automatically switch control between the manipulator and base. The three modes of operation are called near-target manipulation mode, off-target manipulation mode, and transportation mode. The system enters near-target manipulation mode only when close to a target of interest, and allows the operator to control the manipulator using velocity control. When the operator attempts to move the manipulator out of its workspace limits, the system temporarily enters transportation mode. When the operator moves the manipulator in a direction towards the manipulator???s workspace the system returns to near-target manipulation mode. In off-target manipulation mode, when the operator moves the manipulator to its workspace limits, the system retracts the arm near to the centre of its workspace to enter and remain in transportation mode. While in transportation mode the operator controls the base using velocity control. Two types of virtual fixtures are used, repulsive virtual fixtures and forbidden region virtual fixtures. Repulsive virtual fixtures are present in the form of six virtual walls forming a cube at the manipulator???s workspace limits. When the operator approaches a virtual wall, a repulsive force is felt pushing the operator???s hand away from the workspace limits. The forbidden region virtual fixtures prevent the operator from driving into obstacles by disregarding motion commands that would result in a collision. The command strategy was implemented on the Omnibot MMS and test results show that it was successful in improving simplicity, accuracy, and efficiency when teleoperating a MMS

Blending the Material and Digital World for Hybrid Interfaces

The development of digital technologies in the 21st century is progressing continuously and new device classes such as tablets, smartphones or smartwatches are finding their way into our everyday lives. However, this development also poses problems, as these prevailing touch and gestural interfaces often lack tangibility, take little account of haptic qualities and therefore require full attention from their users. Compared to traditional tools and analog interfaces, the human skills to experience and manipulate material in its natural environment and context remain unexploited. To combine the best of both, a key question is how it is possible to blend the material world and digital world to design and realize novel hybrid interfaces in a meaningful way. Research on Tangible User Interfaces (TUIs) investigates the coupling between physical objects and virtual data. In contrast, hybrid interfaces, which specifically aim to digitally enrich analog artifacts of everyday work, have not yet been sufficiently researched and systematically discussed. Therefore, this doctoral thesis rethinks how user interfaces can provide useful digital functionality while maintaining their physical properties and familiar patterns of use in the real world. However, the development of such hybrid interfaces raises overarching research questions about the design: Which kind of physical interfaces are worth exploring? What type of digital enhancement will improve existing interfaces? How can hybrid interfaces retain their physical properties while enabling new digital functions? What are suitable methods to explore different design? And how to support technology-enthusiast users in prototyping? For a systematic investigation, the thesis builds on a design-oriented, exploratory and iterative development process using digital fabrication methods and novel materials. As a main contribution, four specific research projects are presented that apply and discuss different visual and interactive augmentation principles along real-world applications. The applications range from digitally-enhanced paper, interactive cords over visual watch strap extensions to novel prototyping tools for smart garments. While almost all of them integrate visual feedback and haptic input, none of them are built on rigid, rectangular pixel screens or use standard input modalities, as they all aim to reveal new design approaches. The dissertation shows how valuable it can be to rethink familiar, analog applications while thoughtfully extending them digitally. Finally, this thesis’ extensive work of engineering versatile research platforms is accompanied by overarching conceptual work, user evaluations and technical experiments, as well as literature reviews.Die Durchdringung digitaler Technologien im 21. Jahrhundert schreitet stetig voran und neue Geräteklassen wie Tablets, Smartphones oder Smartwatches erobern unseren Alltag. Diese Entwicklung birgt aber auch Probleme, denn die vorherrschenden berührungsempfindlichen Oberflächen berücksichtigen kaum haptische Qualitäten und erfordern daher die volle Aufmerksamkeit ihrer Nutzer:innen. Im Vergleich zu traditionellen Werkzeugen und analogen Schnittstellen bleiben die menschlichen Fähigkeiten ungenutzt, die Umwelt mit allen Sinnen zu begreifen und wahrzunehmen. Um das Beste aus beiden Welten zu vereinen, stellt sich daher die Frage, wie neuartige hybride Schnittstellen sinnvoll gestaltet und realisiert werden können, um die materielle und die digitale Welt zu verschmelzen. In der Forschung zu Tangible User Interfaces (TUIs) wird die Verbindung zwischen physischen Objekten und virtuellen Daten untersucht. Noch nicht ausreichend erforscht wurden hingegen hybride Schnittstellen, die speziell darauf abzielen, physische Gegenstände des Alltags digital zu erweitern und anhand geeigneter Designparameter und Entwurfsräume systematisch zu untersuchen. In dieser Dissertation wird daher untersucht, wie Materialität und Digitalität nahtlos ineinander übergehen können. Es soll erforscht werden, wie künftige Benutzungsschnittstellen nützliche digitale Funktionen bereitstellen können, ohne ihre physischen Eigenschaften und vertrauten Nutzungsmuster in der realen Welt zu verlieren. Die Entwicklung solcher hybriden Ansätze wirft jedoch übergreifende Forschungsfragen zum Design auf: Welche Arten von physischen Schnittstellen sind es wert, betrachtet zu werden? Welche Art von digitaler Erweiterung verbessert das Bestehende? Wie können hybride Konzepte ihre physischen Eigenschaften beibehalten und gleichzeitig neue digitale Funktionen ermöglichen? Was sind geeignete Methoden, um verschiedene Designs zu erforschen? Wie kann man Technologiebegeisterte bei der Erstellung von Prototypen unterstützen? Für eine systematische Untersuchung stützt sich die Arbeit auf einen designorientierten, explorativen und iterativen Entwicklungsprozess unter Verwendung digitaler Fabrikationsmethoden und neuartiger Materialien. Im Hauptteil werden vier Forschungsprojekte vorgestellt, die verschiedene visuelle und interaktive Prinzipien entlang realer Anwendungen diskutieren. Die Szenarien reichen von digital angereichertem Papier, interaktiven Kordeln über visuelle Erweiterungen von Uhrarmbändern bis hin zu neuartigen Prototyping-Tools für intelligente Kleidungsstücke. Um neue Designansätze aufzuzeigen, integrieren nahezu alle visuelles Feedback und haptische Eingaben, um Alternativen zu Standard-Eingabemodalitäten auf starren Pixelbildschirmen zu schaffen. Die Dissertation hat gezeigt, wie wertvoll es sein kann, bekannte, analoge Anwendungen zu überdenken und sie dabei gleichzeitig mit Bedacht digital zu erweitern. Dabei umfasst die vorliegende Arbeit sowohl realisierte technische Forschungsplattformen als auch übergreifende konzeptionelle Arbeiten, Nutzerstudien und technische Experimente sowie die Analyse existierender Forschungsarbeiten

Human Factors Design Standard for Acquisition of Commercial-off-the-Shelf Subsystems, Non-Developmental Items, and Developmental Systems

The Human Factors Design Standard (HFDS) provides reference information to assist in the selection, analysis, design, development, and evaluation of new and modified Federal Aviation Administration (FAA) systems and equipment. This document is based largely on the 1996 Human Factors Design Guide (HFDG) produced by the FAA in 1996. It converts the original guidelines document to a standard and incorporates updated information, including the newly revised chapters on automation and human-computer interface. The updated document includes extensive reorganization of material based on user feedback on how the document has been used in the past. Additional information has been also been added to help the users better understand tradeoffs involved with specific design criteria. This standard covers a broad range of human factors topics that pertain to automation, maintenance, displays and printers, controls and visual indicators, alarms, alerts and voice output, input devices, workplace design, system security, safety, the environment, and anthropometry documentation. This document also includes extensive human-computer interface information

NASA Tech Briefs, June 1990

Topics: New Product Ideas; NASA TU Services; Electronic Components and Circuits; Electronic Systems; Physical Sciences; Materials; Computer Programs; Mechanics; Machinery; Fabrication Technology; Mathematics and Information Sciences; Life Sciences

Development of an Augmented Reality musical instrument

Nowadays, Augmented Reality and Virtual Reality are concepts of which people are becoming more and more aware of due to their application to the video-game industry (speceially in the case of VR). Such raise is partly due to a decrease in costs of Head Mounted Displays, which are consequently becoming more and more accessible to the public and developers worldwide. All of these novelties, along with the frenetic development of Information Technologies applied to essentially, all markets; have also made digital artists and manufacturers aware of the never-ending interaction possibilities these paradigms provide and a variety of systems have appeared, which offer innovative creative capabilities. Due to the personal interest of the author in music and the technologies surrounding its creation by digital means, this document covers the application of the Virtuality- Reality-Continuum (VR and AR) paradigms to the field of interfaces for the musical expression. More precisely, it covers the development of an electronic drumset which integrates Arduino-compatible hardware with a 3D visualisation application (developed based on Unity) to create a complete functioning instrument musical instrument, The system presented along the document attempts to leverage three-dimensional visual feedback with tangible interaction based on hitting, which is directly translated to sound and visuals in the sound generation application. Furthermore, the present paper provides a notably deep study of multiple technologies and areas that are ultimately applied to the target system itself. Hardware concerns, time requirements, approaches to the creation of NIMEs (New Interfaces for Musical Expression), Virtual Musical Instrument (VMI) design, musical-data transmission protocols (MIDI and OSC) and 3D modelling constitute the fundamental topics discussed along the document. At the end of this paper, conclusions reflect on the difficulties found along the project, the unfulfilled objectives and all deviations from the initial concept that the project suffered during the development process. Besides, future work paths will be listed and depicted briefly and personal comments will be included as well as humble pieces of advice targeted at readers interested in facing an ambitious project on their own.En la actualidad, los conceptos de Realidad Aumentada (AR) y Realidad Virtual (VR) son cada vez más conocidos por la gente de a pie, debido en gran parte a su aplicación al ámbito de los videojuegos, donde el desarollo para dispositivos HMDs está en auge. Esta popularidad se debe en gran parte al abaratamiento de este tipo de dispositivos, los cuales son cada vez más accesibles al público y a los desarrolladores de todo el mundo. Todas estas novedades sumadas al frenético desarrollo de la industria de IT han llamado la atención de artistas y empresas que han visto en estos paradigmas (VR and AR) una oportunidad para proporcionar nuevas e ilimitadas formas de interacción y creación de arte en alguna de sus formas. Debido al interés personal del autor de este TFG en la música y las tecnologías que posiblitan la creación musical por medios digitales, este documento explora la aplicación de los paradigmas del Virtuality-Reality Continuum de Milgram (AR y VR) al ámbito de las interfaces para la creación musical. Concretamente, este TFG detalla el desarrollo de una batería electrónica, la cual combina una interfaz tangible creada con hardware compatible con Arduino con una aplicación de generación de sonidos y visualización, desarrollada utilizando Unity como base. Este sistema persigue lograr una interacción natural por parte del usuario por medio de integrar el hardware en unas baquetas, las cuales permiten detectar golpes a cualquier tipo de superficie y convierten estos en mensajes MIDI que son utilizados por el sistema generador de sonido para proporcionar feedback al usuario (tanto visual como auditivo); por tanto, este sistema se distingue por abogar por una interacción que permita golpear físicamente objetos (e.g. una cama), mientras que otros sistemas similates basan su modo de interacción en “air-drumming”. Además, este sistema busca solventar algunos de los inconvenientes principales asociados a los baterías y su normalmente conflictivo instrumento, como es el caso de las limitaciones de espacio, la falta de flexibilidad en cuanto a los sonidos que pueden ser generados y el elevado coste del equipo. Por otro lado, este documento pormenoriza diversos aspectos relacionados con el sistema descrito en cuestión, proporcionando al lector una completa panorámica de sistemas similares al propuesto. Asimismo, se describen los aspectos más importantes en relación al desarrollo del TFG, como es el caso de protocolos de transmisión de información musical (MIDI y OSC), algoritmos de control, guías de diseño para interfaces de creación musical (NIMEs) y modelado 3D. Se incluye un íntegro proceso de Ingeniería de Software para mantener la formalidad y tratar de garantizar un desarrollo más organizado y se discute la metodología utilizada para este proceso. Por último, este documento reflexiona sobre las dificultades encontradas, se enumeran posibilidades de Trabajo Futuro y se finaliza con algunas conclusiones personales derivadas de este trabajo de investigación.Ingeniería Informátic

A Utility Framework for Selecting Immersive Interactive Capability and Technology for Virtual Laboratories

There has been an increase in the use of virtual reality (VR) technology in the education community since VR is emerging as a potent educational tool that offers students with a rich source of educational material and makes learning exciting and interactive. With a rise of popularity and market expansion in VR technology in the past few years, a variety of consumer VR electronics have boosted educators and researchers’ interest in using these devices for practicing engineering and science laboratory experiments. However, little is known about how such devices may be well-suited for active learning in a laboratory environment. This research aims to address this gap by formulating a utility framework to help educators and decision-makers efficiently select a type of VR device that matches with their design and capability requirements for their virtual laboratory blueprint. Furthermore, a framework use case is demonstrated by not only surveying five types of VR devices ranging from low-immersive to full-immersive along with their capabilities (i.e., hardware specifications, cost, and availability) but also considering the interaction techniques in each VR device based on the desired laboratory task. To validate the framework, a research study is carried out to compare these five VR devices and investigate which device can provide an overall best-fit for a 3D virtual laboratory content that we implemented based on the interaction level, usability and performance effectiveness

Human computer interface guide, revision A

The Human Computer Interface Guide, SSP 30540, is a reference document for the information systems within the Space Station Freedom Program (SSFP). The Human Computer Interface Guide (HCIG) provides guidelines for the design of computer software that affects human performance, specifically, the human-computer interface. This document contains an introduction and subparagraphs on SSFP computer systems, users, and tasks; guidelines for interactions between users and the SSFP computer systems; human factors evaluation and testing of the user interface system; and example specifications. The contents of this document are intended to be consistent with the tasks and products to be prepared by NASA Work Package Centers and SSFP participants as defined in SSP 30000, Space Station Program Definition and Requirements Document. The Human Computer Interface Guide shall be implemented on all new SSFP contractual and internal activities and shall be included in any existing contracts through contract changes. This document is under the control of the Space Station Control Board, and any changes or revisions will be approved by the deputy director