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Modelling human behaviours and reactions under dangerous environment
This paper describes the framework of a real-time simulation system to model human behavior and reactions in dangerous environments. The system utilizes the latest 3D computer animation techniques, combined with artificial intelligence, robotics and psychology, to model human behavior, reactions and decision making under expected/unexpected dangers in real-time in virtual environments. The development of the system includes: classification on the conscious/subconscious behaviors and reactions of different people; capturing different motion postures by the Eagle Digital System; establishing 3D character animation models; establishing 3D models for the scene; planning the scenario and the contents; and programming within Virtools (TM) Dev. Programming within Virtools (TM) Dev is subdivided into modeling dangerous events, modeling character's perceptions, modeling character's decision making, modeling character's movements, modeling character's interaction with environment and setting up the virtual cameras. The real-time simulation of human reactions in hazardous environments is invaluable in military defense, fire escape, rescue operation planning, traffic safety studies, and safety planning in chemical factories, the design of buildings, airplanes, ships and trains. Currently, human motion modeling can be realized through established technology, whereas to integrate perception and intelligence into virtual human's motion is still a huge undertaking. The challenges here are the synchronization of motion and intelligence, the accurate modeling of human's vision, smell, touch and hearing, the diversity and effects of emotion and personality in decision making. There are three types of software platforms which could be employed to realize the motion and intelligence within one system, and their advantages and disadvantages are discussed
Virtual reality: Theoretical basis, practical applications
Virtual reality (VR) is a powerful multimedia visualization technique offering a range of mechanisms by which many new experiences can be made available. This paper deals with the basic nature of VR, the technologies needed to create it, and its potential, especially for helping disabled people. It also offers an overview of some examples of existing VR systems
Feeling crowded yet?: Crowd simulations for VR
With advances in virtual reality technology and its multiple applications, the need for believable, immersive virtual environments is increasing. Even though current computer graphics methods allow us to develop highly realistic virtual worlds, the main element failing to enhance presence is autonomous groups of human inhabitants. A great
number of crowd simulation techniques have emerged in the last decade, but critical details in the crowd's movements and appearance do not meet the standards necessary to convince VR participants that they are present in a real crowd. In this paper, we review recent advances in the creation of immersive virtual crowds and discuss areas that require further work to turn these simulations into more fully immersive and believable experiences.Peer ReviewedPostprint (author's final draft
LCrowdV: Generating Labeled Videos for Simulation-based Crowd Behavior Learning
We present a novel procedural framework to generate an arbitrary number of
labeled crowd videos (LCrowdV). The resulting crowd video datasets are used to
design accurate algorithms or training models for crowded scene understanding.
Our overall approach is composed of two components: a procedural simulation
framework for generating crowd movements and behaviors, and a procedural
rendering framework to generate different videos or images. Each video or image
is automatically labeled based on the environment, number of pedestrians,
density, behavior, flow, lighting conditions, viewpoint, noise, etc.
Furthermore, we can increase the realism by combining synthetically-generated
behaviors with real-world background videos. We demonstrate the benefits of
LCrowdV over prior lableled crowd datasets by improving the accuracy of
pedestrian detection and crowd behavior classification algorithms. LCrowdV
would be released on the WWW
Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking
This manuscript presents control of a high-DOF fully actuated lower-limb
exoskeleton for paraplegic individuals. The key novelty is the ability for the
user to walk without the use of crutches or other external means of
stabilization. We harness the power of modern optimization techniques and
supervised machine learning to develop a smooth feedback control policy that
provides robust velocity regulation and perturbation rejection. Preliminary
evaluation of the stability and robustness of the proposed approach is
demonstrated through the Gazebo simulation environment. In addition,
preliminary experimental results with (complete) paraplegic individuals are
included for the previous version of the controller.Comment: Submitted to IEEE Control System Magazine. This version addresses
reviewers' concerns about the robustness of the algorithm and the motivation
for using such exoskeleton
Intuitive Hand Teleoperation by Novice Operators Using a Continuous Teleoperation Subspace
Human-in-the-loop manipulation is useful in when autonomous grasping is not
able to deal sufficiently well with corner cases or cannot operate fast enough.
Using the teleoperator's hand as an input device can provide an intuitive
control method but requires mapping between pose spaces which may not be
similar. We propose a low-dimensional and continuous teleoperation subspace
which can be used as an intermediary for mapping between different hand pose
spaces. We present an algorithm to project between pose space and teleoperation
subspace. We use a non-anthropomorphic robot to experimentally prove that it is
possible for teleoperation subspaces to effectively and intuitively enable
teleoperation. In experiments, novice users completed pick and place tasks
significantly faster using teleoperation subspace mapping than they did using
state of the art teleoperation methods.Comment: ICRA 2018, 7 pages, 7 figures, 2 table
Humanoid robot orientation stabilization by shoulder joint motion during locomotion
Arm swing action is a natural phenomenon that emerges in biped locomotion. A shoulder torque reference generation method is introduced in this paper to utilize arms of a humanoid robot during locomotion. Main idea of the technique is the employment of shoulder joint actuation torques in order to stabilize body orientation. The reference torques are computed by a method which utilizes proportional and derivative actions. Body orientation angles serve as the inputs of this system. The approach is tested via simulations with the 3D full-dynamics model of the humanoid robot SURALP (Sabanci University Robotics Research Laboratory Platform). Results indicate that the method is successful in reducing oscillations of body angles during bipedal walking
Ground Robotic Hand Applications for the Space Program study (GRASP)
This document reports on a NASA-STDP effort to address research interests of the NASA Kennedy Space Center (KSC) through a study entitled, Ground Robotic-Hand Applications for the Space Program (GRASP). The primary objective of the GRASP study was to identify beneficial applications of specialized end-effectors and robotic hand devices for automating any ground operations which are performed at the Kennedy Space Center. Thus, operations for expendable vehicles, the Space Shuttle and its components, and all payloads were included in the study. Typical benefits of automating operations, or augmenting human operators performing physical tasks, include: reduced costs; enhanced safety and reliability; and reduced processing turnaround time
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