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A Teleoperation Framework For Robots Utilizing Control Barrier Functions In Virtual Reality, Aref Hebri, Sneh Acharya, Fillia Makedon
A Teleoperation Framework For Robots Utilizing Control Barrier Functions In Virtual Reality, Aref Hebri, Sneh Acharya, Fillia Makedon
Computer Science and Engineering Faculty Publications
This paper describes a novel shared control teleoperation framework for mobile robots that utilizes Control Barrier Functions (CBFs) as filtering mechanism to prevent a human operator from making dangerous actions. The proposed framework demonstrates the potential to create a CBF controller that enables users with no prior knowledge of robotics to safely tele-navigate mobile robots with limited situational awareness. As formal methods, we utilize a hand-crafted CBF, which acts as a repulsive field to describe unsafe regions withing the robot’s vicinity. The implementation of the application was deemed possible by creating a Virtual Reality (VR) simulation in the Unity Engine …
Smartfunction: An Immersive Vr System To Assess Attention Using Embodied Cognition, Ashish Jaiswal, Aref Hebri, Pavel Hamza Reza, Zadeh Mohammad Zaki, Fillia Makedon
Smartfunction: An Immersive Vr System To Assess Attention Using Embodied Cognition, Ashish Jaiswal, Aref Hebri, Pavel Hamza Reza, Zadeh Mohammad Zaki, Fillia Makedon
Computer Science and Engineering Faculty Publications
In traditional neuropsychological tests, executive functions (EFs) are typically evaluated using paper and pencil or computer-based sit-down tasks. However, a new assessment framework, the Automated Test of Embodied Cognition (ATEC), has been developed to measure EFs and embodied cognition through physical tasks. This paper proposes integrating the ATEC system with virtual reality (VR) to evaluate and diagnose attention-deficit disorders using embodied cognition (EC) principles. The VR system will utilize Meta Quest 2 VR headsets and controllers with motion sensors to accurately capture users’ physical movements. The collected motion data will be transmitted to a remote server for evaluation through machine …
An Interactive Game With Virtual Reality Immersion To Improve Cultural Sensitivity In Healthcare, Paul J. Hershberger, Yong Pei, Timothy N. Crawford, Sabrina M. Neeley, Thomas Wischgoll, Dixit B. Patel, Miteshkumar M. Vasoya, Angie Castle, Sankalp Mishra, Lahari Surapaneni, Aman A. Pogaku, Aishwarya Bositty, Todd Pavlack
An Interactive Game With Virtual Reality Immersion To Improve Cultural Sensitivity In Healthcare, Paul J. Hershberger, Yong Pei, Timothy N. Crawford, Sabrina M. Neeley, Thomas Wischgoll, Dixit B. Patel, Miteshkumar M. Vasoya, Angie Castle, Sankalp Mishra, Lahari Surapaneni, Aman A. Pogaku, Aishwarya Bositty, Todd Pavlack
Computer Science and Engineering Faculty Publications
Purpose: Biased perceptions of individuals who are not part of one’s in-groups tend to be negative and habitual. Because health care professionals are no less susceptible to biases than are others, the adverse impact of biases on marginalized populations in health care warrants continued attention and amelioration. Method: Two characters, a Syrian refugee with limited English proficiency and a black pregnant woman with a history of opioid use disorder, were developed for an online training simulation that includes an interactive life course experience focused on social determinants of health, and a clinical encounter in a community health center utilizing virtual …