A telesensation system implies the ultimate goal of teleoperation. Such a system provides the operator with the sensational feelings of the remote site as if he/she were working in the actual environment. Thus, the pe...
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A telesensation system implies the ultimate goal of teleoperation. Such a system provides the operator with the sensational feelings of the remote site as if he/she were working in the actual environment. Thus, the performance of the system is greatly improved. This paper mainly reviews some of the existing units of the three most important elements in a telesensation system. These units are force-reflecting manual controllers, virtual reality units, and an advanced operator interface. The feel of touch is provided by the force-reflecting manual controller, while the virtual reality unit gives the operator the 3-D view of the working environment. The telesensation system, also implemented with the advanced operator interface, allows the operator to easily control, model, plan, and simulate remote systems. These features have proven to be the most significant feedback of telesensation systems.
As fault-tolerant systems develop, higher levels of reliability in robotic become achievable. With greater levels of fault tolerance and higher accessibility of robots in general, fault-tolerant characteristics of rob...
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As fault-tolerant systems develop, higher levels of reliability in robotic become achievable. With greater levels of fault tolerance and higher accessibility of robots in general, fault-tolerant characteristics of robotic systems will have to be distinguished. This paper develops and utilizes a fault-tolerant capacity measure to rank serial and parallel robotic architectures according to their inherent fault-tolerant capabilities. Four levels of fault-tolerant robotic architectures are distinguished at the joint, link, subsystem, and system levels. Robotic systems ranging from the most basic to the more complicated architectures are evaluated using the measure to provide a basis for comparison of their fault tolerance capabilities. The measure presents a tool for the designer to guide the robotic architecture and component selection process.
In this paper we develop a complete classification scheme for planar, spherical and spatial four-bar linkages. The goal of this classification is to note all of the subtleties of motion that an arbitrary set of four l...
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The tropism system cognitive architecture provides an intuitive formalism for colonies of agents, either hardware or software. We present a fine-grained implementation of the architecture on a colony of software agent...
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The tropism system cognitive architecture provides an intuitive formalism for colonies of agents, either hardware or software. We present a fine-grained implementation of the architecture on a colony of software agents for the interpretation of human tactile gestures for robotic trajectory specification and modification. The fine-grained nature of the architecture and the use of the port-based object framework for agent instantiation allows the manual construction of a capable agent set that is reconfigurable and reusable across different gesture-based interaction tasks.
This paper explores shape from motion decomposition as a learning tool for autonomous agents. Shape from motion is a process through which an agent learns the "shape" of some interaction with the world by im...
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This paper explores shape from motion decomposition as a learning tool for autonomous agents. Shape from motion is a process through which an agent learns the "shape" of some interaction with the world by imparting motion through some subspace of the world. The technique applies singular value decomposition to observations of the motion to extract the eigenvectors. The authors show how shape from motion applied to a fingertip force sensor "learns" a more precise calibration matrix with less effort than traditional least squares approaches. The authors also demonstrate primordial learning on a primitive "infant" mobile robot.
Integrating sensors into robot systems is an important step towards increasing the flexibility of robotic manufacturing systems. Current sensor integration is largely task-specific which hinders flexibility. The autho...
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Integrating sensors into robot systems is an important step towards increasing the flexibility of robotic manufacturing systems. Current sensor integration is largely task-specific which hinders flexibility. The authors are developing a sensorimotor command layer that encapsulates useful combinations of sensing and action which can be applied to many tasks within a domain. The sensorimotor commands provide a higher-level in which to terminate task strategy plans, which eases the development of sensor-driven robot programs. This paper reports on the development of both force and vision driven commands which are successfully applied to two different connector insertion experiments.
Gesture-based programming is a new paradigm to ease the burden of programming robots. By tapping in to the user's wealth of experience with contact transitions, compliance, uncertainty and operations sequencing, w...
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Gesture-based programming is a new paradigm to ease the burden of programming robots. By tapping in to the user's wealth of experience with contact transitions, compliance, uncertainty and operations sequencing, we hope to provide a more intuitive programming environment for complex, real-world tasks based on the expressiveness of nonverbal communication. A requirement for this to be accomplished is the ability to interpret gestures to infer the intentions behind them. As a first step toward this goal, this paper presents an application of distributed perception for inferring a user's intentions by observing tactile gestures. These gestures consist of sparse, inexact, physical "nudges" applied to the robot's end effector for the purpose of modifying its trajectory in free space. A set of independent agents-each with its own local, fuzzified, heuristic model of a particular trajectory parameter observes data from a wristforce/torque sensor to evaluate the gestures. The agents then independently determine the confidence of their respective findings and distributed arbitration resolves the interpretation through voting.
This article describes how the finite element method can be integrated into the education of undergraduate mechanical engineering students. The teaching of finite element theory, the use of commercial software in engi...
This article describes how the finite element method can be integrated into the education of undergraduate mechanical engineering students. The teaching of finite element theory, the use of commercial software in engineering courses, and the application of the finite element method in the context of mechanical design and analysis are discussed.
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