9,192 research outputs found

    Human-Machine Interface for Remote Training of Robot Tasks

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    Regardless of their industrial or research application, the streamlining of robot operations is limited by the proximity of experienced users to the actual hardware. Be it massive open online robotics courses, crowd-sourcing of robot task training, or remote research on massive robot farms for machine learning, the need to create an apt remote Human-Machine Interface is quite prevalent. The paper at hand proposes a novel solution to the programming/training of remote robots employing an intuitive and accurate user-interface which offers all the benefits of working with real robots without imposing delays and inefficiency. The system includes: a vision-based 3D hand detection and gesture recognition subsystem, a simulated digital twin of a robot as visual feedback, and the "remote" robot learning/executing trajectories using dynamic motion primitives. Our results indicate that the system is a promising solution to the problem of remote training of robot tasks.Comment: Accepted in IEEE International Conference on Imaging Systems and Techniques - IST201

    Designing visual analytics methods for massive collections of movement data

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    Exploration and analysis of large data sets cannot be carried out using purely visual means but require the involvement of database technologies, computerized data processing, and computational analysis methods. An appropriate combination of these technologies and methods with visualization may facilitate synergetic work of computer and human whereby the unique capabilities of each “partner” can be utilized. We suggest a systematic approach to defining what methods and techniques, and what ways of linking them, can appropriately support such a work. The main idea is that software tools prepare and visualize the data so that the human analyst can detect various types of patterns by looking at the visual displays. To facilitate the detection of patterns, we must understand what types of patterns may exist in the data (or, more exactly, in the underlying phenomenon). This study focuses on data describing movements of multiple discrete entities that change their positions in space while preserving their integrity and identity. We define the possible types of patterns in such movement data on the basis of an abstract model of the data as a mathematical function that maps entities and times onto spatial positions. Then, we look for data transformations, computations, and visualization techniques that can facilitate the detection of these types of patterns and are suitable for very large data sets – possibly too large for a computer's memory. Under such constraints, visualization is applied to data that have previously been aggregated and generalized by means of database operations and/or computational techniques

    Management and display of four-dimensional environmental data sets using McIDAS

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    Over the past four years, great strides have been made in the areas of data management and display of 4-D meteorological data sets. A survey was conducted of available and planned 4-D meteorological data sources. The data types were evaluated for their impact on the data management and display system. The requirements were analyzed for data base management generated by the 4-D data display system. The suitability of the existing data base management procedures and file structure were evaluated in light of the new requirements. Where needed, new data base management tools and file procedures were designed and implemented. The quality of the basic 4-D data sets was assured. The interpolation and extrapolation techniques of the 4-D data were investigated. The 4-D data from various sources were combined to make a uniform and consistent data set for display purposes. Data display software was designed to create abstract line graphic 3-D displays. Realistic shaded 3-D displays were created. Animation routines for these displays were developed in order to produce a dynamic 4-D presentation. A prototype dynamic color stereo workstation was implemented. A computer functional design specification was produced based on interactive studies and user feedback
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