Natural Virtual Reality User Interface to Define Assembly Sequences for Digital Human Models

Digital human models (DHMs) are virtual representations of human beings. They are used to conduct, among other things, ergonomic assessments in factory layout planning. DHM software tools are challenging in their use and thus require a high amount of training for engineers. In this paper, we present a virtual reality (VR) application that enables engineers to work with DHMs easily. Since VR systems with head-mounted displays (HMDs) are less expensive than CAVE systems, HMDs can be integrated more extensively into the product development process. Our application provides a reality-based interface and allows users to conduct an assembly task in VR and thus to manipulate the virtual scene with their real hands. These manipulations are used as input for the DHM to simulate, on that basis, human ergonomics. Therefore, we introduce a software and hardware architecture, the VATS (virtual action tracking system). This paper furthermore presents the results of a user study in which the VATS was compared to the existing WIMP (Windows, Icons, Menus and Pointer) interface. The results show that the VATS system enables users to conduct tasks in a significantly faster way

3-D Hand Pose Estimation from Kinect's Point Cloud Using Appearance Matching

We present a novel appearance-based approach for pose estimation of a human hand using the point clouds provided by the low-cost Microsoft Kinect sensor. Both the free-hand case, in which the hand is isolated from the surrounding environment, and the hand-object case, in which the different types of interactions are classified, have been considered. The hand-object case is clearly the most challenging task having to deal with multiple tracks. The approach proposed here belongs to the class of partial pose estimation where the estimated pose in a frame is used for the initialization of the next one. The pose estimation is obtained by applying a modified version of the Iterative Closest Point (ICP) algorithm to synthetic models to obtain the rigid transformation that aligns each model with respect to the input data. The proposed framework uses a "pure" point cloud as provided by the Kinect sensor without any other information such as RGB values or normal vector components. For this reason, the proposed method can also be applied to data obtained from other types of depth sensor, or RGB-D camera

Safe, Remote-Access Swarm Robotics Research on the Robotarium

This paper describes the development of the Robotarium -- a remotely accessible, multi-robot research facility. The impetus behind the Robotarium is that multi-robot testbeds constitute an integral and essential part of the multi-agent research cycle, yet they are expensive, complex, and time-consuming to develop, operate, and maintain. These resource constraints, in turn, limit access for large groups of researchers and students, which is what the Robotarium is remedying by providing users with remote access to a state-of-the-art multi-robot test facility. This paper details the design and operation of the Robotarium as well as connects these to the particular considerations one must take when making complex hardware remotely accessible. In particular, safety must be built in already at the design phase without overly constraining which coordinated control programs the users can upload and execute, which calls for minimally invasive safety routines with provable performance guarantees.Comment: 13 pages, 7 figures, 3 code samples, 72 reference

AAO Starbugs: software control and associated algorithms

The Australian Astronomical Observatory's TAIPAN instrument deploys 150 Starbug robots to position optical fibres to accuracies of 0.3 arcsec, on a 32 cm glass field plate on the focal plane of the 1.2 m UK-Schmidt telescope. This paper describes the software system developed to control and monitor the Starbugs, with particular emphasis on the automated path-finding algorithms, and the metrology software which keeps track of the position and motion of individual Starbugs as they independently move in a crowded field. The software employs a tiered approach to find a collision-free path for every Starbug, from its current position to its target location. This consists of three path-finding stages of increasing complexity and computational cost. For each Starbug a path is attempted using a simple method. If unsuccessful, subsequently more complex (and expensive) methods are tried until a valid path is found or the target is flagged as unreachable.Comment: 10 pages, to be published in Proc. SPIE 9913, Software and Cyberinfrastructure for Astronomy IV; 201

NBSymple, a double parallel, symplectic N-body code running on Graphic Processing Units

We present and discuss the characteristics and performances, both in term of computational speed and precision, of a numerical code which numerically integrates the equation of motions of N 'particles' interacting via Newtonian gravitation and move in an external galactic smooth field. The force evaluation on every particle is done by mean of direct summation of the contribution of all the other system's particle, avoiding truncation error. The time integration is done with second-order and sixth-order symplectic schemes. The code, NBSymple, has been parallelized twice, by mean of the Computer Unified Device Architecture to make the all-pair force evaluation as fast as possible on high-performance Graphic Processing Units NVIDIA TESLA C 1060, while the O(N) computations are distributed on various CPUs by mean of OpenMP Application Program. The code works both in single precision floating point arithmetics or in double precision. The use of single precision allows the use at best of the GPU performances but, of course, limits the precision of simulation in some critical situations. We find a good compromise in using a software reconstruction of double precision for those variables that are most critical for the overall precision of the code. The code is available on the web site astrowww.phys.uniroma1.it/dolcetta/nbsymple.htmlComment: Paper composed by 29 pages, including 9 figures. Submitted to New Astronomy

Combining Coarse-Grained Protein Models with Replica-Exchange All-Atom Molecular Dynamics

We describe a combination of all-atom simulations with CABS, a well-established coarse-grained protein modeling tool, into a single multiscale protocol. The simulation method has been tested on the C-terminal beta hairpin of protein G, a model system of protein folding. After reconstructing atomistic details, conformations derived from the CABS simulation were subjected to replica-exchange molecular dynamics simulations with OPLS-AA and AMBER99sb force fields in explicit solvent. Such a combination accelerates system convergence several times in comparison with all-atom simulations starting from the extended chain conformation, demonstrated by the analysis of melting curves, the number of native-like conformations as a function of time and secondary structure propagation. The results strongly suggest that the proposed multiscale method could be an efficient and accurate tool for high-resolution studies of protein folding dynamics in larger systems.Comment: 12 pages, 4 figure

Mechanism of unidirectional movement of kinesin motors

Kinesin motors have been studied extensively both experimentally and theoretically. However, the microscopic mechanism of the processive movement of kinesin is still an open question. In this paper, we propose a hand-over-hand model for the processivity of kinesin, which is based on chemical, mechanical, and electrical couplings. In the model the processive movement does not need to rely on the two heads' coordination in their ATP hydrolysis and mechanical cycles. Rather, the ATP hydrolyses at the two heads are independent. The much higher ATPase rate at the trailing head than the leading head makes the motor walk processively in a natural way, with one ATP being hydrolyzed per step. The model is consistent with the structural study of kinesin and the measured pathway of the kinesin ATPase. Using the model the estimated driving force of ~ 5.8 pN is in agreements with the experimental results (5~7.5 pN). The prediction of the moving time in one step (~10 microseconds) is also consistent with the measured values of 0~50 microseconds. The previous observation of substeps within the 8-nm step is explained. The shapes of velocity-load (both positive and negative) curves show resemblance to previous experimental results.Comment: 22 pages, 6 figure

Sampled data systems passivity and discrete port-Hamiltonian systems

In this paper, we present a novel way to approach the interconnection of a continuous and a discrete time physical system first presented in [1][2] [3]. This is done in a way which preserves passivity of the coupled system independently of the sampling time T. This strategy can be used both in the field of telemanipulation, for the implementation of a passive master/slave system on a digital transmission line with varying time delays and possible loss of packets (e.g., the Internet), and in the field of haptics, where the virtual environment should `feel¿ like a physical equivalent system