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Incorporating value-driven design into the visualization of design spaces using contextual self-organizing maps: A case study of satellite design 15

Incorporating value-driven design into the visualization of ...

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AIAA AVIATION 2014 -15th AIAA/ISSMO Multidisciplinary Analysis and Optimization Conference 2014

作者： Richardson, Trevor Kannan, Hanumanthrao Bloebaum, Christina Winer, Eliot Department of Computer Engineering Human Computer Interaction Virtual Reality Applications Center Iowa State University 1620 Howe Hall Ames IA 50011 United States Department of Aerospace Engineering Virtual Reality Applications Center Iowa State University 2271 Howe Hall Ames IA 50011 United States Department of Mechanical Engineering Computer Engineering Human Computer Interaction Virtual Reality Applications Center Iowa State University 1620 Howe Hall Ames IA 50011 United States

ISBN: (数字)9781624102837

ISBN: (纸本)9781624102837

This paper presents case study of satellite design using a new method to view n-dimensional design or optimization data using a contextual self-organizing map. The technique allows n-dimensional data to be trained without dimensionality reduction or other compression. A designer can view similar design points in a true n-dimensional manner. Prior work in visual design space exploration using contextual self-organizing maps is extended through the incorporation of designer preferences using techniques founded in value-driven design. Standard techniques of the self-organizing map are used to group the n-dimensional design space into discrete clusters of similar characteristics through neural network-based topological ordering. Techniques from prior work are used to present the designer with a visual display encapsulating statistical qualities of value held within the n-dimensional design space. A case study involving a satellite design problem is presented and results compared with recent findings in value-driven design and traditional methods of design optimization. Initial results show unique potential of the combined methods to develop an understanding of the design space topology and to select promising areas of a design space for detailed analysis.

关键词： Self organizing maps

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Three dimensional multi-objective uav path planning using digital pheromone particle swarm optimization 53

Three dimensional multi-objective uav path planning using di...

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53rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics and Materials Conference

作者： Holub, Joseph Foo, Jung Leng Kilivarapu, Vijay Winer, Eliot Department of Mechanical Engineering and Human Computer Interaction Iowa State University 1620 Howe Hall Ames IA 50010 United States

ISBN: (数字)9781600869372

ISBN: (纸本)9781600869372

Military operations are turning to more complex and advanced automation technology for minimum risk and maximum efficiency. A critical piece to this strategy is unmanned aerial vehicles (UAVs). UAVs require the intelligence to safely maneuver along a path to an intended target, avoiding obstacles such as other aircraft or enemy threats. Often automated path planning algorithms are employed to specify targets for a UAV to investigate. To date, path-planning algorithms have been limited to providing only a single solution (alternate path) without further input from a pilot. This paper uses digital pheromones to improve upon a previously developed multi-objective path planner that uses Particle Swarm Optimization (PSO) to generate multiple solution paths based on predefined criteria. The problem formulation is designed to minimize risk due to enemy threats and fuel consumption while maximizing reconnaissance and eliminating terrain violations. The implementation of digital pheromone PSO increases the efficiency and reliability of paths returned to the operator. The decrease in iterations allows alternate paths to be returned in real time, aiding in efficient decision making by the UAV operator. The implementation of Digital Pheromone PSO is described below along with the results of simulated scenarios. © 2012 AIAA.

关键词： Motion planning

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Contextual Self-Organizing Map visualization to improve optimization solution convergence

Contextual Self-Organizing Map visualization to improve opti...

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12th AIAA Aviation Technology, Integration, and Operations (ATIO) Conference and 14th AIAA/ISSMO Multidisciplinary Analysis and Optimization Conference

作者： Holub, Joseph Richardson, Trevor Dryden, Matthew La Grotta, Shawn Winer, Eliot Department of Computer Engineering Human Computer Interaction Virtual Reality Applications Center Iowa State University 1620 Howe Hall Ames IA 50011 United States Department of Mechanical Engineering Human Computer Interaction Virtual Reality Applications Center Iowa State University 1620 Howe Hall Ames IA 50011 United States

ISBN: (纸本)9781600869303

Industry is increasingly turning to optimization to solve complex design problems. While many commercial and open source methods are readily available, it is easy to waste time and accuracy if the methods are not applied properly. If qualitative and quantitative data about a problem could be discovered prior to solution, much more effective use of optimization methods would result. The application of Contextual Self-Organizing Maps (CSOMs) can be used to visualize n-dimensional optimization problems on a standard, easy to interpret twodimensional display. Design space information such as modality, curvature, and areas of interest can be determined from a CSOM. To test whether using CSOMs to initialize an optimization algorithm improves performance, a number of unimodal and multimodal optimization functions were solved, using CSOMs to first map the design space. Initial points were selected from the generated maps and used in a pheromone particle swarm optimization (PSO) method as well as a numerical method. Results were then analyzed for improvements and insights. © 2012 by Eliot Winer.

关键词： Self organizing maps

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Puzzle assembly training: Real world vs. virtual environment

Puzzle assembly training: Real world vs. virtual environment

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IEEE Annual International Symposium Virtual Reality

作者： Mike Oren Patrick Carlson Stephen Gilbert Judy M. Vance Human Computer Interaction Program Virtual Reality Applications Center Iowa State University Ames IA USA Mechanical Engineering Department and Human Computer Interaction Program Virtual Reality Applications Center Iowa State University Ames IA USA

While training participants to assemble a 3D wooden burr puzzle, we compared results of training in a stereoscopic, head tracked virtual assembly environment utilizing haptic devices and data gloves with real world training. While virtual training took participants about three times longer, the group that used the virtual environment was able to assemble the physical test puzzle about three times faster than the group trained with the physical puzzle. We present several possible cognitive explanations for these results and our plans for future exploration of the factors that improve the effectiveness of virtual process training over real world experience.

关键词： Training Assembly Virtual environments Haptic interfaces Testing Virtual groups

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Graphics hardware acceleration of Particle Swarm Optimization with digital pheromones using the CUDA architecture 12

Graphics hardware acceleration of Particle Swarm Optimizatio...

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12th AIAA Aviation Technology, Integration, and Operations (ATIO) Conference and 14th AIAA/ISSMO Multidisciplinary Analysis and Optimization Conference

作者： Kalivarapu, Vijay Winer, Eliot Virtual Reality Applications Center Iowa State University Ames IA 50011 United States Mechanical Engineering Department Human Computer Interaction Virtual Reality Applications Center Iowa State University 1620 Howe Hall Ames IA 50011 United States

ISBN: (数字)9781600869303

ISBN: (纸本)9781600869303

Modern GPUs have proven to outperform the number of floating point operations when compared to CPUs through inherent data parallel architecture and higher bandwidth capabilities. The advent of programmable graphics hardware in recent times further provided a suitable platform for scientific computing, particularly in the field of population based optimization algorithms. Previous work by the authors demonstrated the capability of digital pheromones within PSO for searching n-dimensional design spaces with improved accuracy, efficiency and reliability in both serial and parallel CPU computing environments. Preliminary GPU implementations were also made using OpenCL and OpenGL Shading Languge by off-loading objective function evaluations to the GPU. In this paper, hardware acceleration of Particle Swarm Optimization with digital pheromones using the CUDA architecture on commodity Graphics Processing Unit (GPU) is investigated and presented. Specifically, two objectives will be attained in this work: 1) a successful implementation of PSO with digital pheromones on a high-end workstation GPU and a popular low-cost consumer level GPU and 2) results comparison between these implementations. Based on testing the algorithm with a number of unconstrained problems, recommendations will be made on the suitability of high-end or consumer level GPUs for solving population based optimization problems.© 2012 by Vijay Kalivarapu and Eliot Winer.

关键词： Graphics processing unit

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Presenting spatial tactile messages with a hand-held device

Presenting spatial tactile messages with a hand-held device

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World Haptics Conference

作者： Jussi Rantala Kalle Myllymaa Roope Raisamo Jani Lylykangas Veikko Surakka Pete Shull Mark Cutkosky Tampere Unit for Computer-Human Interaction (TAUCHI) School of Information Sciences University of Tampere Finland Center of Design Research Department of Mechanical Engineering University of Stanford USA

This paper introduces a multi-actuator tactile device designed for remote touch communication. While closely-spaced high-frequency vibrotactile actuators can be difficult to distinguish, our system utilized four linear DC motors for presenting spatial tactile messages through low-frequency actuation. An experiment was conducted to determine accuracy for recognizing stimuli presented on the palm of the hand. Participants were asked to identify 10 predefined stimulus patterns created from the four linear actuators positioned in either a diamond or square configuration. Results showed that positional, linear, and circular stimuli were recognized with mean response accuracies of 98.8, 96.5, and 90.2%, respectively. No statistically significant differences were found between the actuator configurations. These findings can be utilized in developing a remote communication channel that supports the transfer of spatial aspects of touch such as mapping the location of finger touch of one user to tactile sensation on the palm of another user.

关键词： Actuators Accuracy Diamond-like carbon Skin Haptic interfaces Prototypes DC motors

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Multi-objective UAV path planning with refined reconnaissance and threat formulations

Multi-objective UAV path planning with refined reconnaissanc...

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作者： Swartzentruber, Levi Foo, Jung Leng Winer, Eliot H. Department of Mechanical Engineering and Human Computer Interaction Virtual Reality Applications Center Iowa State University 2274 Howe Hall Ames IA 50010 United States

ISBN: (纸本)9781600867422

Military operations are turning to more complex and advanced automation technology for minimum risk and maximum efficiency. A critical piece to this strategy is unmanned aerial vehicles (UAVs). UAVs require the intelligence to safely maneuver along a path to an intended target, avoiding obstacles such as other aircraft or enemy threats. Often automated path planning algorithms are employed to specify targets for a UAV to investigate. To date, path-planning algorithms have been limited to providing only a single solution (alternate path) without further input from a pilot. This paper improves upon a previously developed multi-objective path planner that uses Particle Swarm Optimization (PSO) to generate multiple solution paths based on predefined criteria. The original path planner consisted of 4 components: fuel efficiency, reconnaissance, threat avoidance, and terrain. In this paper, the focus will be on improvements made to the formulations of the cost functions for reconnaissance and threat avoidance as well as the ability of the pilot to adjust the weights for the mission objectives. The alternate paths can be optimized with a preference towards maximum safety, minimum fuel consumption, or target reconnaissance. The weight adjustment techniques presented enhance the pilot's ability to find desirable solutions when re-tasking the UAV. Most importantly, the paths were generated in real time to allow efficient decision making by the UAV pilot. These improvements were noted in the simulated test scenarios used to evaluate the path planner. Copyright © 2010 by Jung Leng Foo.

关键词： Military operations

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Visual design space exploration using contextual self-organizing maps

Visual design space exploration using contextual self-organi...

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13th AIAA/ISSMO Multidisciplinary Analysis and Optimization Conference, MAO 2010

作者： Nekolny, Brett Richardson, Trevor Winer, Eliot Department of Mechanical Engineering Human Computer Interaction Virtual Reality Applications Center Iowa State University 1620 Howe Hall Ames IA 50011 United States Department of Mechanical Engineering Virtual Reality Applications Center Iowa State University 1620 Howe Hall Ames IA 50011 United States

ISBN: (纸本)9781600869549

Self-organizing maps (SOMs) and contextual maps are methods of visualizing high dimensional data in a low dimensional space. SOMs have previously been applied to visualize characteristics of optimization problems by generating maps of the component variables to compare interactions and relationships between design variables. In this paper, SOMs and contextual maps are explored as a visualization method to directly visualize the design space. Using the techniques described in the paper, high dimensional datasets are reduced to a 2D, human readable, visual map. Preliminary results show that the topology of three optimization functions using varying dimensionality can be clustered and visualized using contextual maps, and information can be gathered from these clusters including objective function values and variability amongst differing areas of the design space. This paper focuses on the use of contextual maps to extract valuable information such as modality and curvature to aid in future work such as selection of appropriate optimization algorithm and initial point for a solution run. © 2010 by Eliot Winer.

关键词： Self organizing maps

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Robotic-surgical instrument wrist pose estimation

Robotic-surgical instrument wrist pose estimation

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Stephan Fabel Kyungim Baek Peter Berkelman Human-Robot Interaction Laboratory Department of Information and Computer Sciences University of Hawaii Mānoa Honolulu HI USA Human-Robot Interaction Laboratory Department of Mechanical Engineering University of Hawaii Mānoa Honolulu HI USA

The Compact Lightweight Surgery Robot from the University of Hawaii includes two teleoperated instruments and one endoscope manipulator which act in accord to perform assisted interventional medicine. The relative positions and orientations of the robotic instruments and endoscope must be known to the teleoperation system so that the directions of the instrument motions can be controlled to correspond closely to the directions of the motions of the master manipulators, as seen by the the endoscope and displayed to the surgeon. If the manipulator bases are mounted in known locations and all manipulator joint variables are known, then the necessary coordinate transformations between the master and slave manipulators can be easily computed. The versatility and ease of use of the system can be increased, however, by allowing the endoscope or instrument manipulator bases to be moved to arbitrary positions and orientations without reinitializing each manipulator or remeasuring their relative positions. The aim of this work is to find the pose of the instrument end effectors using the video image from the endoscope camera. The P3P pose estimation algorithm is used with a Levenberg-Marquardt optimization to ensure convergence. The correct transformations between the master and slave coordinate frames can then be calculated and updated when the bases of the endoscope or instrument manipulators are moved to new, unknown, positions at any time before or during surgical procedures.

关键词： Instruments Endoscopes Estimation Robot kinematics Manipulators Three dimensional displays

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Journal of Computing and Information Science in engineering 2009年第3期9卷 1-5页

作者： Zhang, Jingsheng Smith, Shana Human-Computer Interaction Graduate Program Iowa State University Ames IA 50011 United States Department of Mechanical Engineering National Taiwan University No. 1 Sec. 4 Roosevelt Road Taipei 10617 Taiwan

To achieve effective 3D shape retrieval, there is a crucial need for efficient shape matching methods. This paper introduces a new method for 3D shape matching, which uses a simplified octree representation of 3D mesh models. The simplified octree representation was developed to improve time and space efficiency over prior representations. The proposed method also stores octree information in extensible markup language format, rather than in a new proprietary data file type, to facilitate comparing models over the Internet. © 2009 by ASME.

关键词： Hypertext systems

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