Telelocomotion—remotely operated legged robots

© 2020 by the authors. Li-censee MDPI, Basel, Switzerland. Teleoperated systems enable human control of robotic proxies and are particularly amenable to inaccessible environments unsuitable for autonomy. Examples include emergency response, underwater manipulation, and robot assisted minimally invasive surgery. However, teleoperation architectures have been predominantly employed in manipulation tasks, and are thus only useful when the robot is within reach of the task. This work introduces the idea of extending teleoperation to enable online human remote control of legged robots, or telelocomotion, to traverse challenging terrain. Traversing unpredictable terrain remains a challenge for autonomous legged locomotion, as demonstrated by robots commonly falling in high-profile robotics contests. Telelocomotion can reduce the risk of mission failure by leveraging the high-level understanding of human operators to command in real-time the gaits of legged robots. In this work, a haptic telelocomotion interface was developed. Two within-user studies validate the proof-of-concept interface: (i) The first compared basic interfaces with the haptic interface for control of a simulated hexapedal robot in various levels of traversal complexity; (ii) the second presents a physical implementation and investigated the efficacy of the proposed haptic virtual fixtures. Results are promising to the use of haptic feedback for telelocomotion for complex traversal tasks

NASA Tech Briefs, May 1991

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

Aeronautical engineering: A continuing bibliography with indexes (supplement 202)

This bibliography lists 447 reports, articles and other documents introduced into the NASA scientific and technical information system in June 1986

Human Being Emotion in Cognitive Intelligent Robotic Control Pt I: Quantum / Soft Computing Approach

Abstract. The article consists of two parts. Part I shows the possibility of quantum / soft computing optimizers of knowledge bases (QSCOptKB™) as the toolkit of quantum deep machine learning technology implementation in the solution’s search of intelligent cognitive control tasks applied the cognitive helmet as neurointerface. In particular, case, the aim of this part is to demonstrate the possibility of classifying the mental states of a human being operator in on line with knowledge extraction from electroencephalograms based on SCOptKB™ and QCOptKB™ sophisticated toolkit. Application of soft computing technologies to identify objective indicators of the psychophysiological state of an examined person described. The role and necessity of applying intelligent information technologies development based on computational intelligence toolkits in the task of objective estimation of a general psychophysical state of a human being operator shown. Developed information technology examined with special (difficult in diagnostic practice) examples emotion state estimation of autism children (ASD) and dementia and background of the knowledge bases design for intelligent robot of service use is it. Application of cognitive intelligent control in navigation of autonomous robot for avoidance of obstacles demonstrated.

Computation in Complex Networks

Complex networks are one of the most challenging research focuses of disciplines, including physics, mathematics, biology, medicine, engineering, and computer science, among others. The interest in complex networks is increasingly growing, due to their ability to model several daily life systems, such as technology networks, the Internet, and communication, chemical, neural, social, political and financial networks. The Special Issue “Computation in Complex Networks" of Entropy offers a multidisciplinary view on how some complex systems behave, providing a collection of original and high-quality papers within the research fields of: • Community detection • Complex network modelling • Complex network analysis • Node classification • Information spreading and control • Network robustness • Social networks • Network medicin

Research and Development of a General Purpose Instrument DAQ-Monitoring Platform applied to the CLOUD/CERN experiment

The current scientific environment has experimentalists and system administrators allocating large amounts of time for data access, parsing and gathering as well as instrument management. This is a growing challenge since there is an increasing number of large collaborations with significant amount of instrument resources, remote instrumentation sites and continuously improved and upgraded scientific instruments. DAQBroker is a new software designed to monitor networks of scientific instruments while also providing simple data access methods for any user. Data can be stored in one or several local or remote databases running on any of the most popular relational databases (MySQL, PostgreSQL, Oracle). It also provides the necessary tools for creating and editing the metadata associated with different instruments, perform data manipulation and generate events based on instrument measurements, regardless of the user’s know-how of individual instruments. Time series stored in a DAQBroker database also benefit from several statistical methods for time series classification, comparison and event detection as well as multivariate time series analysis methods to determine the most statistically relevant time series, rank the most influential time series and also determine the periods of most activity during specific experimental periods. This thesis presents the architecture behind the framework, assesses the performance under controlled conditions and presents a use-case under the CLOUD experiment at CERN, Switzerland. The univariate and multivariate time series statistical methods applied to this framework are also studied.O processo de investigação científica moderno requer que tanto experimentalistas como administradores de sistemas dediquem uma parte significativa do seu tempo a criar estratégias para aceder, armazenar e manipular instrumentos científicos e os dados que estes produzem. Este é um desafio crescente considerando o aumento de colaborações que necessitam de vários instrumentos, investigação em áreas remotas e instrumentos científicos com constantes alterações. O DAQBroker é uma nova plataforma desenhada para a monitorização de instrumentos científicos e ao mesmo tempo fornece métodos simples para qualquer utilizador aceder aos seus dados. Os dados podem ser guardados em uma ou várias bases de dados locais ou remotas utilizando os gestores de bases de dados mais comuns (MySQL, PostgreSQL, Oracle). Esta plataforma também fornece as ferramentas necessárias para criar e editar versões virtuais de instrumentos científicos e manipular os dados recolhidos dos instrumentos, independentemente do grau de conhecimento que o utilizador tenha com o(s) instrumento(s) utilizado(s). Séries temporais guardadas numa base de dados DAQBroker beneficiam de um conjunto de métodos estatísticos para a classificação, comparação e detecção de eventos, determinação das séries com maior influência e os sub-períodos experimentais com maior actividade. Esta tese apresenta a arquitectura da plataforma, os resultados de diversos testes de esforço efectuados em ambientes controlados e um caso real da sua utilização na experiência CLOUD, no CERN, Suíça. São estudados também os métodos de análise de séries temporais, tanto singulares como multivariadas aplicados na plataforma

Texture and Colour in Image Analysis

Research in colour and texture has experienced major changes in the last few years. This book presents some recent advances in the field, specifically in the theory and applications of colour texture analysis. This volume also features benchmarks, comparative evaluations and reviews

New Fundamental Technologies in Data Mining

The progress of data mining technology and large public popularity establish a need for a comprehensive text on the subject. The series of books entitled by "Data Mining" address the need by presenting in-depth description of novel mining algorithms and many useful applications. In addition to understanding each section deeply, the two books present useful hints and strategies to solving problems in the following chapters. The contributing authors have highlighted many future research directions that will foster multi-disciplinary collaborations and hence will lead to significant development in the field of data mining