Predictive input delay compensation for motion control systems

This paper presents an analytical approach for the prediction of future motion to be used in input delay compensation of time-delayed motion control systems. The method makes use of the current and previous input values given to a nominally behaving system in order to realize the prediction of the future motion of that system. The generation of the future input is made through an integration which is realized in discrete time setting. Once the future input signal is created, it is used as the reference input of the remote system to enforce an input time delayed system, conduct a delay-free motion. Following the theoretical formulation, the proposed method is tested in experiments and the validity of the approach is verified

Experimental Evaluation of the Projection-based Force Reflection Algorithms for Haptic Interaction with Virtual Environment

Haptic interaction with virtual environments is currently a major and growing area of research with a number of emerging applications, particularly in the field of robotics. Digital implementation of the virtual environments, however, introduces errors which may result in instability of the haptic displays. This thesis deals with experimental investigation of the Projection-Based Force Reflection Algorithms (PFRAs) for haptic interaction with virtual environments, focusing on their performance in terms of stability and transparency. Experiments were performed to compare the PFRA in terms of performance for both non-delayed and delayed haptic interactions with more conventional haptic rendering methods, such as the Virtual Coupling (VC) and Wave Variables (WV). The results demonstrated that the PFRA is more stable, guarantees higher levels of transparency, and is less sensitive to decrease in update rates

El diseño y testeo de aplicaciones didácticas para dispositivos móviles : el Metacubo como caso de ejemplo de investigación aplicada

Se estudia el diseño de un proceso de transformación conceptual y de investigación aplicada. Se ha pasado de la discusión del concepto Metacubo a su conversión en un software cuyos resultados pueden aplicarse a la gestión de la información en muchos campos y que ya ha encontrado una de sus mutaciones en aplicaciones y juegos didácticos para tablets como el Zong-Ji Kids, que estimulan el trabajo mental en niños de 6 a 9 años. El juego se sometió en 2012 a un proceso de testeo observacional en laboratorio a 80 niños de 5 a 13 años. Los resultados indican que la simplificación simbólica de los elementos de diseño y una interfaz fácilmente comprensible favorecen la aceptación de la aplicación y la asimilación de conceptos vinculados con el aprendizaje y refuerzo de conceptos de cálculo y geométricos. Entre ellos, la suma y la resta o los conceptos positivo, negativo, incremento, disminución, rotación creciente o decreciente, facetas contiguas y contrarias y representación de un polígono con diferentes niveles de complejidad. Cinco años más tarde, el análisis big data de la aplicación online indica que las decisiones de diseño tomadas siguen siendo acertadas.We present a case of designing a conceptual transformation process and of applied research. We have moved from the design and discussion of the Metacube concept to its conversion into a software whose results can be applied to information management in many fields, and in fact has already found one of its conversions or mutations in applications and educational games for tablets as the Zong-Ji Kids, which stimulate mental work in children aged 6 to 9 years. The game underwent in 2012 to a process of observational testing in a laboratory with 80 children, aged 5 to 13 years. The results indicate that the symbolic simplification of the elements of design and an easily understandable interface help to understand the application and assimilation of concepts linked with the learning and reinforcement of calculation and geometric concepts. Some of them are addition and subtraction or positive, negative, increment, decrease, increasing or decreasing rotation, contiguous and opposing facets and representation of a polygon with different levels of complexity. Five years later, the big data analysis of the online application show that the design decisions made were appropriat

El diseño y testeo de aplicaciones didácticas para dispositivos móviles: el Metacubo como caso de ejemplo de investigación aplicada.

Abstract: We present a case of designing a conceptual transformation process and of applied research. We have moved from the design and discussion of the Metacube concept to its conversion into a software whose results can be applied to information management in many fields, and in fact has already found one of its conversions or mutations in applications and educational games for tablets as the Zong-Ji Kids, which stimulate mental work in children aged 6 to 9 years. The game underwent in 2012 to a process of observational testing in a laboratory with 80 children, aged 5 to 13 years. The results indicate that the symbolic simplification of the elements of design and an easily understandable interface help to understand the application and assimilation of concepts linked with the learning and reinforcement of calculation and geometric concepts. Some of them are addition and subtraction or positive, negative, increment, decrease, increasing or decreasing rotation, contiguous and opposing facets and representation of a polygon with different levels of complexity. Five years later, the big data analysis of the online application show that the design decisions made were appropriate. En este artículo pretendemos exponer un caso de diseño de un proceso de transformación conceptual y de investigación aplicada. Se ha pasado del diseño y discusión de concepto Metacubo a su conversión en un software cuyos resultados pueden aplicarse a la gestión de la información en muchos campos y que de hecho ya ha encontrado una de sus conversiones o mutaciones en aplicaciones y juegos didácticos para tablets como el Zong-Ji Kids, que estimulan el trabajo mental en niños de edades comprendidas entre los 6 y los 9 años. El juego se sometió en 2012 a un proceso de testeo observacional en laboratorio a 80 niños de edades comprendidas entre los 5 y los 13 años

Designing polysensory experiences to improve motorcycle safety

Since motorcyclists figure disproportionately in accident statistics, safety feedback devices can be important life saving measures. Motorcycles also face a woefully underdeveloped set of tools to help them navigate the road. This scenario offers a unique set of challenges as well as a rich opportunity to improve. This thesis describes the design process used to develop a polysensory haptic system, built into a motorcycle helmet that could effectively warn drivers when they are in imminent danger of collision, and help them to keep their eyes on the road when navigating

Touching Objects : Objects as Force-Feedback Devices

This study proposes the use of actuated physical objects to investigate force-feedback sensations to explore a 3D environment. In this study, touch triggers and feedback methods, such as haptic icons, were incorporated to the physical objects to engage the person‟s attention and interest towards the virtual objects. Rhythmical patterns were produced to indicate that the user is in proximity to the virtual objects. Afterwards, these virtual objects inside the 3D environment were modeled and analyzed based from the story, The Necklace by Guy de Maupassant. The Necklace, as a story, encloses visual details about the story‟s environment. Also, the necklace, as a physical object, is a representation of the main character‟s mishaps. Observations from the study indicate that users perceive the sensations as unique to that specific virtual object. Further observations reveal that it takes time to build mental associations between the actuated object and the 3D environment

The Interrelationship between Sensorimotor Deficits and Maladaptive Behavior in the Classroom

Mainstreaming special education students has created challenges for teachers, resulting in significant lesson time allocated to classroom disruptions related to maladaptive behavior. This correlational study examined the extent to which specific sensorimotor deficits predict maladaptive behavior among special education students (aged 8-12 years) based on archival data of teacher assessments in New Zealand. Piaget’s cognitive and affective development theory was used as the theoretical foundation. Results from standard multiple regression demonstrated that higher levels of sensorimotor deficits (vision, touch, taste and smell, body awareness, balance and motion) predicted high levels of maladaptive behavior (internalizing, externalizing, and overall maladaptive behavior indices); similarly, higher deficits in taste and smell predicted low levels of adaptive behavior. These results may lead to positive social change by stressing the importance of early sensory assessment among young school children. In addition, the results may also be used to improve interventions or programs designed to reduce maladaptive behavior in the classroom, reducing teachers’ time devoted to managing maladaptive behavior and improving special education students\u27 mental health

The Interrelationship between Sensorimotor Deficits and Maladaptive Behavior in the Classroom

Mainstreaming special education students has created challenges for teachers, resulting in significant lesson time allocated to classroom disruptions related to maladaptive behavior. This correlational study examined the extent to which specific sensorimotor deficits predict maladaptive behavior among special education students (aged 8-12 years) based on archival data of teacher assessments in New Zealand. Piaget’s cognitive and affective development theory was used as the theoretical foundation. Results from standard multiple regression demonstrated that higher levels of sensorimotor deficits (vision, touch, taste and smell, body awareness, balance and motion) predicted high levels of maladaptive behavior (internalizing, externalizing, and overall maladaptive behavior indices); similarly, higher deficits in taste and smell predicted low levels of adaptive behavior. These results may lead to positive social change by stressing the importance of early sensory assessment among young school children. In addition, the results may also be used to improve interventions or programs designed to reduce maladaptive behavior in the classroom, reducing teachers’ time devoted to managing maladaptive behavior and improving special education students\u27 mental health

Tactile Displays for Pedestrian Navigation

Existing pedestrian navigation systems are mainly visual-based, sometimes with an addition of audio guidance. However, previous research has reported that visual-based navigation systems require a high level of cognitive efforts, contributing to errors and delays. Furthermore, in many situations a person’s visual and auditory channels may be compromised due to environmental factors or may be occupied by other important tasks. Some research has suggested that the tactile sense can effectively be used for interfaces to support navigation tasks. However, many fundamental design and usability issues with pedestrian tactile navigation displays are yet to be investigated. This dissertation investigates human-computer interaction aspects associated with the design of tactile pedestrian navigation systems. More specifically, it addresses the following questions: What may be appropriate forms of wearable devices? What types of spatial information should such systems provide to pedestrians? How do people use spatial information for different navigation purposes? How can we effectively represent such information via tactile stimuli? And how do tactile navigation systems perform? A series of empirical studies was carried out to (1) investigate the effects of tactile signal properties and manipulation on the human perception of spatial data, (2) find out the effective form of wearable displays for navigation tasks, and (3) explore a number of potential tactile representation techniques for spatial data, specifically representing directions and landmarks. Questionnaires and interviews were used to gather information on the use of landmarks amongst people navigating urban environments for different purposes. Analysis of the results of these studies provided implications for the design of tactile pedestrian navigation systems, which we incorporated in a prototype. Finally, field trials were carried out to evaluate the design and address usability issues and performance-related benefits and challenges. The thesis develops an understanding of how to represent spatial information via the tactile channel and provides suggestions for the design and implementation of tactile pedestrian navigation systems. In addition, the thesis classifies the use of various types of landmarks for different navigation purposes. These contributions are developed throughout the thesis building upon an integrated series of empirical studies.EThOS - Electronic Theses Online ServiceGBUnited Kingdo