483 research outputs found

    Teleoperation Methods for High-Risk, High-Latency Environments

    Get PDF
    In-Space Servicing, Assembly, and Manufacturing (ISAM) can enable larger-scale and longer-lived infrastructure projects in space, with interest ranging from commercial entities to the US government. Servicing, in particular, has the potential to vastly increase the usable lifetimes of satellites. However, the vast majority of spacecraft on low Earth orbit today were not designed to be serviced on-orbit. As such, several of the manipulations during servicing cannot easily be automated and instead require ground-based teleoperation. Ground-based teleoperation of on-orbit robots brings its own challenges of high latency communications, with telemetry delays of several seconds, and difficulties in visualizing the remote environment due to limited camera views. We explore teleoperation methods to alleviate these difficulties, increase task success, and reduce operator load. First, we investigate a model-based teleoperation interface intended to provide the benefits of direct teleoperation even in the presence of time delay. We evaluate the model-based teleoperation method using professional robot operators, then use feedback from that study to inform the design of a visual planning tool for this task, Interactive Planning and Supervised Execution (IPSE). We describe and evaluate the IPSE system and two interfaces, one 2D using a traditional mouse and keyboard and one 3D using an Intuitive Surgical da Vinci master console. We then describe and evaluate an alternative 3D interface using a Meta Quest head-mounted display. Finally, we describe an extension of IPSE to allow human-in-the-loop planning for a redundant robot. Overall, we find that IPSE improves task success rate and decreases operator workload compared to a conventional teleoperation interface

    Accessibility of Health Data Representations for Older Adults: Challenges and Opportunities for Design

    Get PDF
    Health data of consumer off-the-shelf wearable devices is often conveyed to users through visual data representations and analyses. However, this is not always accessible to people with disabilities or older people due to low vision, cognitive impairments or literacy issues. Due to trade-offs between aesthetics predominance or information overload, real-time user feedback may not be conveyed easily from sensor devices through visual cues like graphs and texts. These difficulties may hinder critical data understanding. Additional auditory and tactile feedback can also provide immediate and accessible cues from these wearable devices, but it is necessary to understand existing data representation limitations initially. To avoid higher cognitive and visual overload, auditory and haptic cues can be designed to complement, replace or reinforce visual cues. In this paper, we outline the challenges in existing data representation and the necessary evidence to enhance the accessibility of health information from personal sensing devices used to monitor health parameters such as blood pressure, sleep, activity, heart rate and more. By creating innovative and inclusive user feedback, users will likely want to engage and interact with new devices and their own data

    Novel Bidirectional Body - Machine Interface to Control Upper Limb Prosthesis

    Get PDF
    Objective. The journey of a bionic prosthetic user is characterized by the opportunities and limitations involved in adopting a device (the prosthesis) that should enable activities of daily living (ADL). Within this context, experiencing a bionic hand as a functional (and, possibly, embodied) limb constitutes the premise for mitigating the risk of its abandonment through the continuous use of the device. To achieve such a result, different aspects must be considered for making the artificial limb an effective support for carrying out ADLs. Among them, intuitive and robust control is fundamental to improving amputees’ quality of life using upper limb prostheses. Still, as artificial proprioception is essential to perceive the prosthesis movement without constant visual attention, a good control framework may not be enough to restore practical functionality to the limb. To overcome this, bidirectional communication between the user and the prosthesis has been recently introduced and is a requirement of utmost importance in developing prosthetic hands. Indeed, closing the control loop between the user and a prosthesis by providing artificial sensory feedback is a fundamental step towards the complete restoration of the lost sensory-motor functions. Within my PhD work, I proposed the development of a more controllable and sensitive human-like hand prosthesis, i.e., the Hannes prosthetic hand, to improve its usability and effectiveness. Approach. To achieve the objectives of this thesis work, I developed a modular and scalable software and firmware architecture to control the Hannes prosthetic multi-Degree of Freedom (DoF) system and to fit all users’ needs (hand aperture, wrist rotation, and wrist flexion in different combinations). On top of this, I developed several Pattern Recognition (PR) algorithms to translate electromyographic (EMG) activity into complex movements. However, stability and repeatability were still unmet requirements in multi-DoF upper limb systems; hence, I started by investigating different strategies to produce a more robust control. To do this, EMG signals were collected from trans-radial amputees using an array of up to six sensors placed over the skin. Secondly, I developed a vibrotactile system to implement haptic feedback to restore proprioception and create a bidirectional connection between the user and the prosthesis. Similarly, I implemented an object stiffness detection to restore tactile sensation able to connect the user with the external word. This closed-loop control between EMG and vibration feedback is essential to implementing a Bidirectional Body - Machine Interface to impact amputees’ daily life strongly. For each of these three activities: (i) implementation of robust pattern recognition control algorithms, (ii) restoration of proprioception, and (iii) restoration of the feeling of the grasped object's stiffness, I performed a study where data from healthy subjects and amputees was collected, in order to demonstrate the efficacy and usability of my implementations. In each study, I evaluated both the algorithms and the subjects’ ability to use the prosthesis by means of the F1Score parameter (offline) and the Target Achievement Control test-TAC (online). With this test, I analyzed the error rate, path efficiency, and time efficiency in completing different tasks. Main results. Among the several tested methods for Pattern Recognition, the Non-Linear Logistic Regression (NLR) resulted to be the best algorithm in terms of F1Score (99%, robustness), whereas the minimum number of electrodes needed for its functioning was determined to be 4 in the conducted offline analyses. Further, I demonstrated that its low computational burden allowed its implementation and integration on a microcontroller running at a sampling frequency of 300Hz (efficiency). Finally, the online implementation allowed the subject to simultaneously control the Hannes prosthesis DoFs, in a bioinspired and human-like way. In addition, I performed further tests with the same NLR-based control by endowing it with closed-loop proprioceptive feedback. In this scenario, the results achieved during the TAC test obtained an error rate of 15% and a path efficiency of 60% in experiments where no sources of information were available (no visual and no audio feedback). Such results demonstrated an improvement in the controllability of the system with an impact on user experience. Significance. The obtained results confirmed the hypothesis of improving robustness and efficiency of a prosthetic control thanks to of the implemented closed-loop approach. The bidirectional communication between the user and the prosthesis is capable to restore the loss of sensory functionality, with promising implications on direct translation in the clinical practice

    Applied Mathematics to Mechanisms and Machines

    Get PDF
    This book brings together all 16 articles published in the Special Issue "Applied Mathematics to Mechanisms and Machines" of the MDPI Mathematics journal, in the section “Engineering Mathematics”. The subject matter covered by these works is varied, but they all have mechanisms as the object of study and mathematics as the basis of the methodology used. In fact, the synthesis, design and optimization of mechanisms, robotics, automotives, maintenance 4.0, machine vibrations, control, biomechanics and medical devices are among the topics covered in this book. This volume may be of interest to all who work in the field of mechanism and machine science and we hope that it will contribute to the development of both mechanical engineering and applied mathematics

    Decision Support Elements and Enabling Techniques to Achieve a Cyber Defence Situational Awareness Capability

    Full text link
    [ES] La presente tesis doctoral realiza un análisis en detalle de los elementos de decisión necesarios para mejorar la comprensión de la situación en ciberdefensa con especial énfasis en la percepción y comprensión del analista de un centro de operaciones de ciberseguridad (SOC). Se proponen dos arquitecturas diferentes basadas en el análisis forense de flujos de datos (NF3). La primera arquitectura emplea técnicas de Ensemble Machine Learning mientras que la segunda es una variante de Machine Learning de mayor complejidad algorítmica (lambda-NF3) que ofrece un marco de defensa de mayor robustez frente a ataques adversarios. Ambas propuestas buscan automatizar de forma efectiva la detección de malware y su posterior gestión de incidentes mostrando unos resultados satisfactorios en aproximar lo que se ha denominado un SOC de próxima generación y de computación cognitiva (NGC2SOC). La supervisión y monitorización de eventos para la protección de las redes informáticas de una organización debe ir acompañada de técnicas de visualización. En este caso, la tesis aborda la generación de representaciones tridimensionales basadas en métricas orientadas a la misión y procedimientos que usan un sistema experto basado en lógica difusa. Precisamente, el estado del arte muestra serias deficiencias a la hora de implementar soluciones de ciberdefensa que reflejen la relevancia de la misión, los recursos y cometidos de una organización para una decisión mejor informada. El trabajo de investigación proporciona finalmente dos áreas claves para mejorar la toma de decisiones en ciberdefensa: un marco sólido y completo de verificación y validación para evaluar parámetros de soluciones y la elaboración de un conjunto de datos sintéticos que referencian unívocamente las fases de un ciberataque con los estándares Cyber Kill Chain y MITRE ATT & CK.[CA] La present tesi doctoral realitza una anàlisi detalladament dels elements de decisió necessaris per a millorar la comprensió de la situació en ciberdefensa amb especial èmfasi en la percepció i comprensió de l'analista d'un centre d'operacions de ciberseguretat (SOC). Es proposen dues arquitectures diferents basades en l'anàlisi forense de fluxos de dades (NF3). La primera arquitectura empra tècniques de Ensemble Machine Learning mentre que la segona és una variant de Machine Learning de major complexitat algorítmica (lambda-NF3) que ofereix un marc de defensa de major robustesa enfront d'atacs adversaris. Totes dues propostes busquen automatitzar de manera efectiva la detecció de malware i la seua posterior gestió d'incidents mostrant uns resultats satisfactoris a aproximar el que s'ha denominat un SOC de pròxima generació i de computació cognitiva (NGC2SOC). La supervisió i monitoratge d'esdeveniments per a la protecció de les xarxes informàtiques d'una organització ha d'anar acompanyada de tècniques de visualització. En aquest cas, la tesi aborda la generació de representacions tridimensionals basades en mètriques orientades a la missió i procediments que usen un sistema expert basat en lògica difusa. Precisament, l'estat de l'art mostra serioses deficiències a l'hora d'implementar solucions de ciberdefensa que reflectisquen la rellevància de la missió, els recursos i comeses d'una organització per a una decisió més ben informada. El treball de recerca proporciona finalment dues àrees claus per a millorar la presa de decisions en ciberdefensa: un marc sòlid i complet de verificació i validació per a avaluar paràmetres de solucions i l'elaboració d'un conjunt de dades sintètiques que referencien unívocament les fases d'un ciberatac amb els estàndards Cyber Kill Chain i MITRE ATT & CK.[EN] This doctoral thesis performs a detailed analysis of the decision elements necessary to improve the cyber defence situation awareness with a special emphasis on the perception and understanding of the analyst of a cybersecurity operations center (SOC). Two different architectures based on the network flow forensics of data streams (NF3) are proposed. The first architecture uses Ensemble Machine Learning techniques while the second is a variant of Machine Learning with greater algorithmic complexity (lambda-NF3) that offers a more robust defense framework against adversarial attacks. Both proposals seek to effectively automate the detection of malware and its subsequent incident management, showing satisfactory results in approximating what has been called a next generation cognitive computing SOC (NGC2SOC). The supervision and monitoring of events for the protection of an organisation's computer networks must be accompanied by visualisation techniques. In this case, the thesis addresses the representation of three-dimensional pictures based on mission oriented metrics and procedures that use an expert system based on fuzzy logic. Precisely, the state-of-the-art evidences serious deficiencies when it comes to implementing cyber defence solutions that consider the relevance of the mission, resources and tasks of an organisation for a better-informed decision. The research work finally provides two key areas to improve decision-making in cyber defence: a solid and complete verification and validation framework to evaluate solution parameters and the development of a synthetic dataset that univocally references the phases of a cyber-attack with the Cyber Kill Chain and MITRE ATT & CK standards.Llopis Sánchez, S. (2023). Decision Support Elements and Enabling Techniques to Achieve a Cyber Defence Situational Awareness Capability [Tesis doctoral]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/19424

    Naval Postgraduate School Academic Catalog - February 2023

    Get PDF

    Sensory Manipulation as a Countermeasure to Robot Teleoperation Delays: System and Evidence

    Full text link
    In the field of robotics, robot teleoperation for remote or hazardous environments has become increasingly vital. A major challenge is the lag between command and action, negatively affecting operator awareness, performance, and mental strain. Even with advanced technology, mitigating these delays, especially in long-distance operations, remains challenging. Current solutions largely focus on machine-based adjustments. Yet, there's a gap in using human perceptions to improve the teleoperation experience. This paper presents a unique method of sensory manipulation to help humans adapt to such delays. Drawing from motor learning principles, it suggests that modifying sensory stimuli can lessen the perception of these delays. Instead of introducing new skills, the approach uses existing motor coordination knowledge. The aim is to minimize the need for extensive training or complex automation. A study with 41 participants explored the effects of altered haptic cues in delayed teleoperations. These cues were sourced from advanced physics engines and robot sensors. Results highlighted benefits like reduced task time and improved perceptions of visual delays. Real-time haptic feedback significantly contributed to reduced mental strain and increased confidence. This research emphasizes human adaptation as a key element in robot teleoperation, advocating for improved teleoperation efficiency via swift human adaptation, rather than solely optimizing robots for delay adjustment.Comment: Submitted to Scientific Report
    corecore