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8th International Conference on Knowledge-Based Intelligent Information and Engineering Systems, KES 2004

作者： Yoon, Jungwon Ryu, Jeha Human-Machine-Computer Interface Laboratory Department of Mechatronics Gwangju Institute of Science and Technology Bukgu Gwangju500-712 Korea Republic of

ISBN: (纸本)9783540301325

This paper describes control algorithm for continuous walking interactions at various terrains with a 12-DOF locomotion interface. The walking control algorithm is suggested for human to walk continuously on infinite floors generated by locomotion interface. For continuous walking, each independent platform of the locomotion interface will follow a human foot during swing phase, while the same platform will move back during stance phase. The transition phase between swing and stance phase is detected by using threshold of the ground height and the reaction force. For moving-back motions of the locomotion interface, the triangular retreating velocity profile is used to generate parabolas trajectory, which is similar to normal walking trajectory. By preliminary walking experiments with a 6dof locomotion interface, the algorithm is proven for a general human to walk naturally at levels, slopes, and stairs terrains. This walking control algorithm can be applied to any locomotion interfaces for applications such as navigations, rehabilitation, and gait analysis. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Artificial intelligence

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An intelligent framework for user-oriented information visualization in the production automation area

An intelligent framework for user-oriented information visua...

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International Conference on Information Visualisation (IV)

作者： J. Schadlich K. Mukasa Computer Science Department Kaiserslautern University Kaiserslautern Germany Center for Human-Machine-Interaction Kaiserslautern University Kaiserslautern Germany

This work proposes a user-oriented approach as a basis for proper information visualization in the production automation area. A total consideration of the user consists of analyzing his tasks, context and profile. In order to implement this in the visualization process, an intelligent framework that is based on a multi agent system is developed. The advantage is that the tasks can be distributed to several small and manageable agents. The long term objective is to develop a working platform for the user-oriented information visualization.

关键词： Visualization Production humans Office automation computer displays Man machine systems computer science Intelligent agent Machine intelligence Machine tools

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Development of a 3-DOF Planar Parallel Robot (RRR Type) for Omni-directional Locomotion Interface

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IFAC Proceedings Volumes 2004年第14期37卷 67-72页

作者： Jungwon Yoon Jeha Ryu Department of Mechatronics. Human- Machine-Computer interface Laboratory Kwangju Institute of Science and Technology (K-JIST)

This paper describes the design and control of the 3dof planar parallel robot for omni-directional locomotion interface, which can generate infinite floor on planar surfaces. The interface is composed of three limbs, each of which has three serial revolute joints with the actuated first joint. To simulate natural human walking, the locomotion interface design specifications are acquired based on gait analysis and each mechanism is optimally designed and manufactured to satisfy the given requirements. The designed locomotion interface allows natural walking (step: 0.8m, foot angle: 10deg). To provide continuous walking in a confined area, a controller is implemented hierarchically to low-level for joint position control, mid-level for platform position control, and high-level control for generation of walking trajectory. At high-level control, a walking control algorithm is suggested to satisfy continues walking on an infinite floor for planar surfaces. From experimental results of walking simulations at level ground, it is proven that with the proposed walking interface, a general person can walk naturally without any considerable disturbances and with safety.

关键词： Locomotion Interface Planar parallel manipulator RRR joint array Walking Virtual environment

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Visualization of design knowledge component relationships to facilitate reuse

Visualization of design knowledge component relationships to...

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IEEE International Conference on Information Reuse and Integration (IRI)

作者： S. Wahid J.L. Smith B. Berry C.M. Chewar D.S. McCrickard Center for Human-Computer Interaction and Department of Computer Science Virginia Polytechnic Institute and State University Blacksburg VA USA Department of Electrical Engineering and Computer Science United States Military Academy West Point NY USA

Within the software development process, reuse at the requirements level has become an increasingly more compelling notion. Following a human-centric approach, this work focuses on both requirements and design solution reuse using a design knowledge repository. In recent years, many improvements have been made to increase reuse through design knowledge repositories, but retrieval of knowledge in the context of design activities continues to be a formidable challenge. We propose a new system, called CERVi, to browse a repository through visualization by exploiting relationships between units of knowledge (in our case, claims). These relationships are key to finding the most appropriate reusable knowledge based on design conditions. Testing shows that CERVi enhances the design knowledge selection process and helps users proceed through structured design decision making. Our approach would be most useful to those interested in unlocking the potential of design knowledge reuse.

关键词： Visualization Libraries human computer interaction Programming Monitoring computer science Testing Process design Decision making Software development management

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The Mental Rotation Tutors: A Flexible, computer-Based Tutoring Model for Intelligent Problem Selection

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Proceedings of the human Factors and Ergonomics Society Annual Meeting 2004年第7期48卷 1025 - 1029页

作者： Matthew R. E. Romoser Beverly P. Woolf Dan Bergeron Donald L. Fisher Department of Mechanical & Industrial Engineering Human Performance Laboratory Department of Computer Science Center for Knowledge Communication University of Massachusetts Amherst MA 01002

The present research focuses on the development of an intelligent, computer-based tutoring model for selecting problems in domains where multiple skills are needed to solve a problem and the reasons for errors are not easily diagnosed. In this paper we report on the development and evaluation of the Mental Rotation Tutors and the intelligent models driving the problem selection engine or “domain reasoner”. The domain reasoner evaluated each student based upon seven different core skills and chose the next problem based upon the student's level of proficiency in all seven areas. Two versions of the tutor were developed. The first versions targeted improving the student's ability to infer what combination of rotations were required to go from one view to another. The second version targeted improving the student's ability to apply a provided set of rotations to an object and report the final orientation. The results of two successive experiments demonstrated that students with low spatial ability derived the most measurable benefit from interacting with the tutors. The tutors also successfully diagnosed students' skill levels and provided problems that were appropriate to each student's current level of proficiency.

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Time Design: Organizers and Panel Co-Chairs

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Proceedings of the human Factors and Ergonomics Society Annual Meeting 2004年第3期48卷 703 - 707页

作者： Michael Hildebrandt Esa M. Rantanen Human-Computer Interaction Group Department of Computer Science University of York York YO10 5DD UK Institute of Aviation Aviation HF Division University of Illinois at Urbana-Champaign Willard Airport Savoy IL 61874

The goal of this panel is to discuss theoretical and methodological approaches that may inform and support the design of temporal aspects of interactive systems. Time Design is an emerging research and development domain that emphasizes the functional, causal role of time in human control behavior. It draws on a diverse literature on time in cognitive psychology, psychophysics, sociology, computer science, engineering, human Factors and HCI. Relevant research domains include heuristics and biases in temporal decisions, temporal aspects of human-automation interaction, planning and scheduling, visualisation of temporal information, and the timing of alarms and interruptions.

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Modular structure generation by greedy network-growing algorithm

Modular structure generation by greedy network-growing algor...

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IEEE Conference on Cybernetics and Intelligent Systems

作者： R. Kamimura H. Takeuchi Information Science Laboratory and Future Science and Technology Joint Research Center Tokai University Hiratsuka Kanagawa Japan Human-Computer Interaction Group Institute for Human Science and Biomedical Engineering National Institute of Advanced Industrial Science and Technology Tsukuba Japan

In this paper, we propose a new method to generate modular structures. In the method, the number of elements, that is, the number of competitive units is gradually increased. To control a process of module generation, we introduce two kinds of information, that is, unit and modular information. Unit information represents information content obtained by individual elements in all modules. On the other hand, modular information is information content obtained by each module. We try to increase both types of information simultaneously. We applied our method to two classification problems: random data classification and Web data classification. In both cases, we observed that modular structures were automatically generated.

关键词： Uncertainty Information science humans Biomedical engineering Process control computer networks Learning systems Entropy Neurons Greedy algorithms

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Accelerated greedy network-growing algorithm by Gaussian activation functions

Accelerated greedy network-growing algorithm by Gaussian act...

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IEEE Conference on Cybernetics and Intelligent Systems

作者： R. Kamimura H. Takeuchi Information Science Laboratory and Future Science and Technology Joint Research Center Tokai University Hiratsuka Kanagawa Japan Human-Computer Interaction Group Institute for Human Science and Biomedical Engineering National Institute for Advanced Industrial Science and Technology Tsukuba Japan

In this paper, we propose a new computational method for a network-growing method called greedy network-growing [R. Kamimura, et al., (2002)]. We have so far introduced a network-growing algorithm called greedy network-growing based upon information theoretic competitive learning. For competitive unit outputs, we have used the inverse of the squares of Euclidean distance between input patterns and connections. The algorithm has extracted very faithful representations of input patterns. However, one problem is that learning is very slow, and sometimes ambiguous final representations are obtained. To remedy these shortcomings, we introduce a new activation function, that is, Gaussian activation functions for competitive units. By changing a parameter for the Gaussian activation functions, we can build a network that does not focus on faithful representations of input patterns, but try to extract the main characteristics of input patterns. Because this method are not concerned with detailed parts of input patterns, learning is significantly accelerated and salient features should be extracted. We applied the method to a road classification problem. Experimental results confirmed that learning was significantly accelerated and salient features could be extracted.

关键词： Acceleration Learning systems computer networks Feature extraction Entropy Information science humans Biomedical engineering computer industry Biomedical computing

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Motion capture from inertial sensing for untethered humanoid teleoperation

Motion capture from inertial sensing for untethered humanoid...

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IEEE-RAS International Conference on humanoid Robots

作者： N. Miller O.C. Jenkins M. Kallmann M.J. Mataric Department of Computer Science California State University Bakersfield CA USA Center of Robotics Embedded Systems Interaction Laboratory Los Angeles CA USA

We describe the design of a modular system for untethered real-time kinematic motion capture using sensors with inertial measuring units (IMU). Our system is comprised of a set of small and lightweight sensors. Each sensor provides its own global orientation (3 degrees of freedom) and is physically and computationally independent, requiring only external communication. Orientation information from sensors is communicated via wireless to host computer for processing. We present results of the real-time usage of our untethered motion capture system for teleoperating the NASA Robonaut. We also discuss potential applications for untethered motion capture with respect to humanoid robotics.

关键词： Real time systems Sensor systems Kinematics Sensor phenomena and characterization Measurement units Motion measurement Physics computing Wireless sensor networks Wireless communication NASA

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Energy bounding algorithm based on passivity theorem for stable haptic interaction control

Energy bounding algorithm based on passivity theorem for sta...

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International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS)

作者： Jong-Phil Kim Jeha Ryu Department of Mechatronics Kwang-Ju Institute of Science and Technology Human-Machine-Computer Interface Laboratory South Korea

ISBN: (纸本)0769521126

After a basic theory on the passivity condition for the sampled-data system has been reviewed, passivity conditions on each subsystem of haptic simulation have been investigated. In addition, the virtual wall simulation is analytically analyzed with the passivity conditions and derived the previously well known stability condition (b > KT/2 + B). Based on this, we propose a novel energy bounding algorithm for stable haptic interaction control. The proposed energy bounding algorithm restricts the energy that is generated by the zero-order hold within the energy consumable by the physical damping in a haptic device and makes the virtual environment and controller passive. This algorithm, therefore, guarantees the passivity condition of the haptic simulation. While the virtual coupling algorithm restricts the actuator force with respect to the penetration depth, the proposed energy bounding algorithm restricts the change of actuator force and eventually restricts generated energy by the zero-order hold. Therefore, much stiffer contact simulation can be implemented.

关键词： Haptic interfaces Virtual environment humans Stability Damping Actuators Virtual reality Force feedback Robot sensing systems Manipulators

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