Immersion, interaction, and imagination are three features of virtual reality (VR). Existing VR systems possess fairly realistic visual and auditory feedbacks, and however, are poor with haptic feedback, by means of w...
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Immersion, interaction, and imagination are three features of virtual reality (VR). Existing VR systems possess fairly realistic visual and auditory feedbacks, and however, are poor with haptic feedback, by means of which human can perceive the physical world via abundant haptic properties. Haptic display is an interface aiming to enable bilateral signal communications between human and computer, and thus to greatly enhance the immersion and interaction of VR systems. This paper surveys the paradigm shift of haptic display occurred in the past 30 years, which is classified into three stages, including desktop haptics, surface haptics, and wearable haptics. The driving forces, key technologies and typical applications in each stage are critically reviewed. Toward the future high-fidelity VR interaction, research challenges are highlighted concerning handheld haptic device, multimodal haptic device, and high fidelity haptic rendering. In the end, the importance of understanding human haptic perception for designing effective haptic devices is addressed.
In this paper, we develop a model-free approximate dynamic programming method for stochastic systems modeled as Markov decision processes to maximize the probability of satisfying high-level system specifications expr...
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Human trafficking, the commercial exploitation of individuals, is a gross violation of human rights;harming societies, economies, health and development. The related disciplines of Operations Research (OR) and Analyti...
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This document describes the study of several trajectory tracking controllers' relative performance for correcting unplanned motion disturbances. The controllers examined include proportional derivative integral (P...
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ISBN:
(数字)9781728101378
ISBN:
(纸本)9781728101385
This document describes the study of several trajectory tracking controllers' relative performance for correcting unplanned motion disturbances. The controllers examined include proportional derivative integral (PID) feedback, feedback linearization (DFL), nonlinear feedback (NLF), and model predictive control (MPC). The terrain disturbances included a fiberboard and an aluminum pipe. Testing was conducted with a TurtleBot2 and VICON motion capture utilizing the Robot Operating System (ROS) for communication.
Surgical robots for laparoscopy consist of several patient side slave manipulators that are controlled via surgeon operated master telemanipulators. Commercial surgical robots do not perform any sub-tasks - even of re...
Surgical robots for laparoscopy consist of several patient side slave manipulators that are controlled via surgeon operated master telemanipulators. Commercial surgical robots do not perform any sub-tasks - even of repetitive or noninvasive nature - autonomously or provide intelligent assistance. While this is primarily due to safety and regulatory reasons, the state of such automation intelligence also lacks the reliability and robustness for use in high-risk applications. Recent developments in continuous control using Artificial Intelligence and Reinforcement Learning have prompted growing research interest in automating mundane sub-tasks. To build on this, we present an inspired Asynchronous Framework which incorporates realtime dynamic simulation - manipulable with the masters of a surgical robot and various other input devices - and interfaces with learning agents to train and potentially allow for the execution of shared sub-tasks. The scope of this framework is generic to cater to various surgical (as well as non-surgical) training and control applications. This scope is demonstrated by examples of multi-user and multi-manual applications which allow for realistic interactions by incorporating distributed control, shared task allocation and a well-defined communication pipe-line for learning agents. These examples are discussed in conjunction with the design philosophy, specifications, system-architecture and metrics of the Asynchronous Framework and the accompanying Simulator. We show the stability of Simulator while achieving real-time dynamic simulation and interfacing with several haptic input devices and a training agent at the same time.
This paper introduces a reinforcement learning algorithm with robot manipulation to learn an arbitrary object's center of mass whose physical material composition is unknown. Robot learning is through manipulation...
This paper introduces a reinforcement learning algorithm with robot manipulation to learn an arbitrary object's center of mass whose physical material composition is unknown. Robot learning is through manipulation of the object in a sequence of actions. The effectiveness of the algorithm is demonstrated in simulation to locate the centers of mass of rocks with complex shapes, with even or uneven mass distributions, and confirmed by vertically stacking the rocks along their learned centers of mass both in simulation and in real experiments.
We present an approach to the distributed storage of data across a swarm of mobile robots that forms a shared global memory. We assume that external storage infrastructure is absent, and that each robot is capable of ...
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We present a decentralized algorithm to achieve segregation into an arbitrary number of groups with swarms of autonomous robots. The distinguishing feature of our approach is in the minimalistic assumptions on which i...
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In this paper, a generalized power limit of the cross wind kite energy systems is proposed. Based on the passivity property of the aerodynamic force, the available power which can be harvested by a cross wind kite is ...
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