Trajectory Deformations from Physical Human-Robot Interaction

Robots are finding new applications where physical interaction with a human is necessary: manufacturing, healthcare, and social tasks. Accordingly, the field of physical human-robot interaction (pHRI) has leveraged impedance control approaches, which support compliant interactions between human and robot. However, a limitation of traditional impedance control is that---despite provisions for the human to modify the robot's current trajectory---the human cannot affect the robot's future desired trajectory through pHRI. In this paper, we present an algorithm for physically interactive trajectory deformations which, when combined with impedance control, allows the human to modulate both the actual and desired trajectories of the robot. Unlike related works, our method explicitly deforms the future desired trajectory based on forces applied during pHRI, but does not require constant human guidance. We present our approach and verify that this method is compatible with traditional impedance control. Next, we use constrained optimization to derive the deformation shape. Finally, we describe an algorithm for real time implementation, and perform simulations to test the arbitration parameters. Experimental results demonstrate reduction in the human's effort and improvement in the movement quality when compared to pHRI with impedance control alone

Exploration of Reaction Pathways and Chemical Transformation Networks

For the investigation of chemical reaction networks, the identification of all relevant intermediates and elementary reactions is mandatory. Many algorithmic approaches exist that perform explorations efficiently and automatedly. These approaches differ in their application range, the level of completeness of the exploration, as well as the amount of heuristics and human intervention required. Here, we describe and compare the different approaches based on these criteria. Future directions leveraging the strengths of chemical heuristics, human interaction, and physical rigor are discussed.Comment: 48 pages, 4 figure

Design of a collaborative system for real time haptic feedback in distributed virtual environments over IP networks

This paper presents an investigation into system architectures for real time haptic feedback in distributed virtual environments over IP switched network. Network impairments such as time delay, jitter and packet loss have a different impact on remote haptic collaborations than the traditional master-slave tele-operation. A hybrid architecture has been proposed and developed to address the challenges in the new use scenario. Experiments have been conducted to show the performance of this architecture in comparison with the currently available time delay compensation algorithms, i.e. dead reckoning. A set of network Quality of Service (QoS) parameters for these types of haptic collaborative systems is obtained. Findings of the study are presented in the paper with recommendations for developing systems that support haptic collaboration

Beyond multimedia adaptation: Quality of experience-aware multi-sensorial media delivery

Multiple sensorial media (mulsemedia) combines multiple media elements which engage three or more of human senses, and as most other media content, requires support for delivery over the existing networks. This paper proposes an adaptive mulsemedia framework (ADAMS) for delivering scalable video and sensorial data to users. Unlike existing two-dimensional joint source-channel adaptation solutions for video streaming, the ADAMS framework includes three joint adaptation dimensions: video source, sensorial source, and network optimization. Using an MPEG-7 description scheme, ADAMS recommends the integration of multiple sensorial effects (i.e., haptic, olfaction, air motion, etc.) as metadata into multimedia streams. ADAMS design includes both coarse- and fine-grained adaptation modules on the server side: mulsemedia flow adaptation and packet priority scheduling. Feedback from subjective quality evaluation and network conditions is used to develop the two modules. Subjective evaluation investigated users' enjoyment levels when exposed to mulsemedia and multimedia sequences, respectively and to study users' preference levels of some sensorial effects in the context of mulsemedia sequences with video components at different quality levels. Results of the subjective study inform guidelines for an adaptive strategy that selects the optimal combination for video segments and sensorial data for a given bandwidth constraint and user requirement. User perceptual tests show how ADAMS outperforms existing multimedia delivery solutions in terms of both user perceived quality and user enjoyment during adaptive streaming of various mulsemedia content. In doing so, it highlights the case for tailored, adaptive mulsemedia delivery over traditional multimedia adaptive transport mechanisms