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- Haptic feedback (2)
- Teleoperation (2)
- 3D visualization (1)
- Associate-rule mining (1)
- Authentication (1)
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- Data-mining (1)
- Dedicated short range communications (DSRC) (1)
- Haptic virtual fixtures (1)
- Hidden Markov models (1)
- Human machine interface (1)
- Human–robot interaction (1)
- Measurement (1)
- Microbial network (1)
- Network analysis (1)
- Pipe flow (1)
- Robot locomotion (1)
- Telelocomotion (1)
- Telerobotics (1)
- Turbulence theory (1)
- Vehicle-to-vehicle (V2V) (1)
- Virtual fixtures (1)
- Visible light communications (VLC) (1)
Articles 1 - 7 of 7
Full-Text Articles in Engineering
Continuous Operator Authentication For Teleoperated Systems Using Hidden Markov Models [Post-Print], Junjie Yan, Kevin Huang, Kyle Lindgren, Tamara Bonaci, Howard J. Chizeck
Continuous Operator Authentication For Teleoperated Systems Using Hidden Markov Models [Post-Print], Junjie Yan, Kevin Huang, Kyle Lindgren, Tamara Bonaci, Howard J. Chizeck
Faculty Scholarship
In this article, we present a novel approach for continuous operator authentication in teleoperated robotic processes based on Hidden Markov Models (HMM). While HMMs were originally developed and widely used in speech recognition, they have shown great performance in human motion and activity modeling. We make an analogy between human language and teleoperated robotic processes (i.e., words are analogous to a teleoperator's gestures, sentences are analogous to the entire teleoperated task or process) and implement HMMs to model the teleoperated task. To test the continuous authentication performance of the proposed method, we conducted two sets of analyses. We built a …
Examining The Inertial Subrange With Nanoscale Cross-Wire Measurements Of Turbulent Pipe Flow At High Reynolds Number Near The Centreline [Post-Print], Clayton P. Byers, Marcus Hultmark, Ivan Marusic, Matt K. Fu
Examining The Inertial Subrange With Nanoscale Cross-Wire Measurements Of Turbulent Pipe Flow At High Reynolds Number Near The Centreline [Post-Print], Clayton P. Byers, Marcus Hultmark, Ivan Marusic, Matt K. Fu
Faculty Scholarship
Highly resolved, two-component velocity measurements were made near the centreline of turbulent pipe flow for Reynolds numbers in the range . These unique data were obtained with a nanoscale cross-wire probe and used to examine the inertial subrange scaling of the longitudinal and transverse velocity components. Classical dissipation rate estimates were made using both the integration of one-dimensional dissipation spectra for each velocity component and the third-order moment of the longitudinal structure function. Although the second-order moments and one-dimensional spectra for each component showed behaviour consistent with local isotropy, clear inertial range similarity and behaviour were not exhibited in the …
Telelocomotion—Remotely Operated Legged Robots, Kevin Huang, Divas Subedi, Rahul Mitra, Isabella Yung, Kirkland Boyd, Edwin Aldrich, Digesh Chitrakar
Telelocomotion—Remotely Operated Legged Robots, Kevin Huang, Divas Subedi, Rahul Mitra, Isabella Yung, Kirkland Boyd, Edwin Aldrich, Digesh Chitrakar
Faculty Scholarship
© 2020 by the authors. Li-censee MDPI, Basel, Switzerland. Teleoperated systems enable human control of robotic proxies and are particularly amenable to inaccessible environments unsuitable for autonomy. Examples include emergency response, underwater manipulation, and robot assisted minimally invasive surgery. However, teleoperation architectures have been predominantly employed in manipulation tasks, and are thus only useful when the robot is within reach of the task. This work introduces the idea of extending teleoperation to enable online human remote control of legged robots, or telelocomotion, to traverse challenging terrain. Traversing unpredictable terrain remains a challenge for autonomous legged locomotion, as demonstrated by robots …
Non-Invasive Measure Of Stenosis Severity Through Spectral Analysis [Post-Print], Clayton P. Byers, Alexandra Sinson, Colette Scheffers, Taikang Ning
Non-Invasive Measure Of Stenosis Severity Through Spectral Analysis [Post-Print], Clayton P. Byers, Alexandra Sinson, Colette Scheffers, Taikang Ning
Faculty Scholarship
A preliminary study on the effect of stenosis severity in a restricted flow is performed through the spectral analysis of sound signals. A model pulsatile flow that uses differing area reductions through an opening was employed, where contact microphones secured outside of the reduction measured the sound intensity in the flow. A spectral analysis shows the narrowing results in increased magnitude of frequencies in the range of 15 to 170Hz, with different narrowing cases resulting in different peak frequencies. Low frequency content up to 10 Hz remains approximately unchanged. This simplistic approach of signal processing forms a basis for enhanced …
Evaluation Of Haptic Guidance Virtual Fixtures And 3d Visualization Methods In Telemanipulation—A User Study, Kevin Huang, Digesh Chitrakar, Fredrik Rydén, Howard Jay Chizeck
Evaluation Of Haptic Guidance Virtual Fixtures And 3d Visualization Methods In Telemanipulation—A User Study, Kevin Huang, Digesh Chitrakar, Fredrik Rydén, Howard Jay Chizeck
Faculty Scholarship
© 2019, The Author(s). This work presents a user-study evaluation of various visual and haptic feedback modes on a real telemanipulation platform. Of particular interest is the potential for haptic guidance virtual fixtures and 3D-mapping techniques to enhance efficiency and awareness in a simple teleoperated valve turn task. An RGB-Depth camera is used to gather real-time color and geometric data of the remote scene, and the operator is presented with either a monocular color video stream, a 3D-mapping voxel representation of the remote scene, or the ability to place a haptic guidance virtual fixture to help complete the telemanipulation task. …
Meta-Network: Optimized Species-Species Network Analysis For Microbial Communities, Pengshuo Yang, Shaojun Yu, Lin Cheng, Kang Ning
Meta-Network: Optimized Species-Species Network Analysis For Microbial Communities, Pengshuo Yang, Shaojun Yu, Lin Cheng, Kang Ning
Faculty Scholarship
© 2019 The Author(s). Background: The explosive growth of microbiome data provides ample opportunities to gain a better understanding of the microbes and their interactions in microbial communities. Given these massive data, optimized data mining methods become important and necessary to perform deep and comprehensive analysis. Among the various priorities for microbiome data mining, the examination of species-species co-occurrence patterns becomes one of the key themes in urgent need. Results: Hence, in this work, we propose the Meta-Network framework to lucubrate the microbial communities. Rooted in loose definitions of network (two species co-exist in a certain samples rather than all …
Comparison Of Radio Frequency And Visible Light Propagation Channels For Vehicular Communications, Lin Cheng, Wantanee Viriyasitavat, Mate Boban, Hsin-Mu Tsai
Comparison Of Radio Frequency And Visible Light Propagation Channels For Vehicular Communications, Lin Cheng, Wantanee Viriyasitavat, Mate Boban, Hsin-Mu Tsai
Faculty Scholarship
Recent research has shown that both radio and visible light waves can be used to enable communications in highly dynamic vehicular environments. However, the roles of these two technologies and how they interact with each other in future vehicular communication systems remain unclear. Understanding the propagation characteristics is an essential step in investigating the benefits and shortcomings of each technology. To this end, we discuss salient properties of radio and visible light propagation channels, including radiation pattern, path loss modeling, noise and interference, and channel time variation. Comparison of these properties provides an important insight that the two communication channels …