31 research outputs found
Aerospace medicine and biology: A continuing bibliography with indexes (supplement 383)
This bibliography lists 100 reports, articles, and other documents introduced into the NASA Scientific and Technical Information System during Nov. 1992. Subject coverage includes the following topics: aerospace medicine and physiology, life support systems and man/system technology, protective clothing, exobiology and extraterrestrial life, planetary biology, and flight crew behavior and performance
Desenvolvimento de ferramentas de treino para teleoperação háptica de um robô humanóide
Mestrado emEngenharia MecânicaIn robotics, the teleoperation of biped humanoids is one of the most exciting
topics. It has the possibility to bypass complex dynamic models with
learning demonstration algorithms using human interaction. For this procedure,
the Humanoid Project at the University of Aveiro - PHUA, ingrained
in the production of a 27 degree-of-freedom full body humanoid platform
teleoperated by means of haptic devices. The current project also comprises
a robot model that has be imported into the Virtual Robot Experimentation
Platform: V-REP. The usage of the simulator allows multiple exercises with
greater speed and shorted setup times, when compared to the teleoperation
of the real robot, besides providing more safety for the platform and the operator
during the tests. By using the simulator, the user can perform tests and
make achievements towards the reproduction of human movement with the
interaction of two haptic devices providing force feedback to the operator.
The performed maneuvers have their kinematic and dynamic data stored for
later application in learning by demonstration algorithms. However, the production
of more complex and detailed movements requires large amounts of
motor skill from the operator. Due to the continuous change of users in the
PHUA, an adaptation period is required for the newly arrived operators to
develop an a nity with the complex control system. This work is focused on
developing methodologies to lower the required time for the training process.
Thanks to the versatility of customization provided by V-REP, it was possible
to implement interfaces which utilized visual and haptic guidance to enhance
the learning capabilities of the operator. A dedicate workstation, new formulations
and support tools that control the simulation were developed in order
to create a more intuitive control over the humanoid platform. Operators
were instructed to reproduce complex 3D movements under several training
conditions (with visual and haptic feedback, only haptic feedback, only visual
feedback, with guidance tools and without guidance). Performance was
measured in terms of speed, drift from intended trajectory, response to the
drift and amplitude of the movement. Findings of this study indicate that,
with the newly implemented mechanisms, operators are able to gain control
over the humanoid platform within a relatively short period of training. Operators
subjected to the guidance programs present an even shorter period
of training needed, exhibiting high performance in the overall system. These
facts support the role of haptic guidance in acquiring kinesthetic memory in
high DOFs systems.Em robótica, a teleoperação de robôs bípede humanóides é um dos tópicos
mais emocionante. Tem a possibilidade de contornar modelos dinâmicos rígidos,
com algoritmos de aprendizagem por demonstração utilizando interação
humana. Para este procedimento, o Projeto Humanóide da Universidade de
Aveiro - PHUA, empanha-se na produção de uma plataforma humanóide de
corpo inteiro teleoperado com dispositivos hapticos. O estado presente do
projeto apresenta um robô humanóide com 27 graus de liberdade. O projeto
actual apresenta um modelo do robô importado para a Virtual Robot Exper-
imentation Platform: V-REP. O uso do simulador permite vários exercícios
com maior velocidade e tempos de preparação curtos, quando comparado
com a teleoperação do robô real, além de proporcionar mais segurança para
a plataforma e do operador durante os ensaios. Ao utilizar o simulador,
o utilizador pode realizar testes à reprodução de movimento humano com
a interacção de dois dispositivos de meios hápticos que fornecem força de
retorno para o operador. As manobras realizadas têm os seus dados cinemáticos
e dinâmicos armazenados para posterior aplicação na aprendizagem por
algoritmos de demonstração. No entanto, a produção de movimentos mais
complexos e detalhados requer grandes quantidades de habilidade motora do
operador. Devido à mudança contínua de usuários no PHUA, um período
de adaptação é necessário para os operadores recém-chegados a desenvolver
uma a nidade com o complexo sistema de controlo. Este trabalho é focado
no desenvolvimento de metodologias para diminuir o tempo necessário
para o processo de formação dos utilizadores. Graças à versatilidade de
personalização fornecidos pela V-REP, foi possível implementar interfaces
que utilizaram orientação visual e haptica para melhorar as capacidades de
aprendizagem do operador. Uma estação de trabalho, novas formulações
e ferramentas de apoio que controlam a simulação foram desenvolvidos a
m de criar um controle mais intuitivo sobre a plataforma humanóide. Os
operadores foram instruídos a reproduzir movimentos complexos em 3D sob
diversas condições de treino (com feedback visual e haptico, apenas feedback
haptico, apenas feedback visual, com ferramentas de orientação e sem
orientação). O desempenho foi medido em termos de velocidade, a desvio
de trajectória pretendida, a resposta à desvio e o tempo gasto para a criação
do movimento. Os resultados deste estudo indicam que, com os mecanismos
recém-implementadas, os operadores são capazes de ganhar o controlo
sobre a plataforma humanóide dentro de um período relativamente curto de
treino. Operadores submetidos a programas de orientação apresentam um
período ainda mais curto de formação necessária, exibindo alto desempenho
no sistema global. Estes fatos justi cam o papel da orientação haptica em
adquirir memória cinestésica em sistemas DOFs elevados
Proceedings of the NASA Conference on Space Telerobotics, volume 3
The theme of the Conference was man-machine collaboration in space. The Conference provided a forum for researchers and engineers to exchange ideas on the research and development required for application of telerobotics technology to the space systems planned for the 1990s and beyond. The Conference: (1) provided a view of current NASA telerobotic research and development; (2) stimulated technical exchange on man-machine systems, manipulator control, machine sensing, machine intelligence, concurrent computation, and system architectures; and (3) identified important unsolved problems of current interest which can be dealt with by future research
Presence 2005: the eighth annual international workshop on presence, 21-23 September, 2005 University College London (Conference proceedings)
OVERVIEW (taken from the CALL FOR PAPERS)
Academics and practitioners with an interest in the concept of (tele)presence are invited to submit their work for presentation at PRESENCE 2005 at University College London in London, England, September 21-23, 2005.
The eighth in a series of highly successful international workshops, PRESENCE 2005 will provide an open discussion forum to share ideas regarding concepts and theories, measurement techniques, technology, and applications related to presence, the psychological state or subjective perception in which a person fails to accurately and completely acknowledge the role of technology in an experience, including the sense of 'being there' experienced by users of advanced media such as virtual reality.
The concept of presence in virtual environments has been around for at least 15 years, and the earlier idea of telepresence at least since Minsky's seminal paper in 1980. Recently there has been a burst of funded research activity in this area for the first time with the European FET Presence Research initiative. What do we really know about presence and its determinants? How can presence be successfully delivered with today's technology? This conference invites papers that are based on empirical results from studies of presence and related issues and/or which contribute to the technology for the delivery of presence. Papers that make substantial advances in theoretical understanding of presence are also welcome. The interest is not solely in virtual environments but in mixed reality environments. Submissions will be reviewed more rigorously than in previous conferences. High quality papers are therefore sought which make substantial contributions to the field.
Approximately 20 papers will be selected for two successive special issues for the journal Presence: Teleoperators and Virtual Environments.
PRESENCE 2005 takes place in London and is hosted by University College London. The conference is organized by ISPR, the International Society for Presence Research and is supported by the European Commission's FET Presence Research Initiative through the Presencia and IST OMNIPRES projects and by University College London
MediaSync: Handbook on Multimedia Synchronization
This book provides an approachable overview of the most recent advances in the fascinating field of media synchronization (mediasync), gathering contributions from the most representative and influential experts. Understanding the challenges of this field in the current multi-sensory, multi-device, and multi-protocol world is not an easy task. The book revisits the foundations of mediasync, including theoretical frameworks and models, highlights ongoing research efforts, like hybrid broadband broadcast (HBB) delivery and users' perception modeling (i.e., Quality of Experience or QoE), and paves the way for the future (e.g., towards the deployment of multi-sensory and ultra-realistic experiences). Although many advances around mediasync have been devised and deployed, this area of research is getting renewed attention to overcome remaining challenges in the next-generation (heterogeneous and ubiquitous) media ecosystem. Given the significant advances in this research area, its current relevance and the multiple disciplines it involves, the availability of a reference book on mediasync becomes necessary. This book fills the gap in this context. In particular, it addresses key aspects and reviews the most relevant contributions within the mediasync research space, from different perspectives. Mediasync: Handbook on Multimedia Synchronization is the perfect companion for scholars and practitioners that want to acquire strong knowledge about this research area, and also approach the challenges behind ensuring the best mediated experiences, by providing the adequate synchronization between the media elements that constitute these experiences
Aerospace medicine and biology: A cumulative index to a continuing bibliography (supplement 384)
This publication is a cumulative index to the abstracts contained in Supplements 372 through 383 of Aerospace Medicine and Biology: A Continuing Bibliography. It includes seven indexes: subject, personal author, corporate source, foreign technology, contract number, report number, and accession number
NASA thesaurus. Volume 1: Hierarchical Listing
There are over 17,000 postable terms and nearly 4,000 nonpostable terms approved for use in the NASA scientific and technical information system in the Hierarchical Listing of the NASA Thesaurus. The generic structure is presented for many terms. The broader term and narrower term relationships are shown in an indented fashion that illustrates the generic structure better than the more widely used BT and NT listings. Related terms are generously applied, thus enhancing the usefulness of the Hierarchical Listing. Greater access to the Hierarchical Listing may be achieved with the collateral use of Volume 2 - Access Vocabulary and Volume 3 - Definitions
Tangible auditory interfaces : combining auditory displays and tangible interfaces
Bovermann T. Tangible auditory interfaces : combining auditory displays and tangible interfaces. Bielefeld (Germany): Bielefeld University; 2009.Tangible Auditory Interfaces (TAIs) investigates into the capabilities of the interconnection of Tangible User Interfaces and Auditory Displays. TAIs utilise artificial physical objects as well as soundscapes to represent digital information. The interconnection of the two fields establishes a tight coupling between information and operation that is based on the human's familiarity with the incorporated interrelations. This work gives a formal introduction to TAIs and shows their key features at hand of seven proof of concept applications
Transmission line modelling applied to non-linear control systems
EThOS - Electronic Theses Online ServiceGBUnited Kingdo