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Full-Text Articles in Mechanical Engineering

Virtual Reality Based Multi-Modal Teleoperation Using Mixed Autonomy, Muthukkumar S. Kadavasal, Abhishek Seth, James H. Oliver Aug 2008

Virtual Reality Based Multi-Modal Teleoperation Using Mixed Autonomy, Muthukkumar S. Kadavasal, Abhishek Seth, James H. Oliver

Mechanical Engineering Conference Presentations, Papers, and Proceedings

A multi modal teleoperation interface is introduced featuring an integrated virtual reality based simulation augmented by sensors and image processing capabilities on-board the remotely operated vehicle. The proposed virtual reality interface fuses an existing VR model with live video feed and prediction states, thereby creating a multi modal control interface. Virtual reality addresses the typical limitations of video-based teleoperation caused by signal lag and limited field of view thereby allowing the operator to navigate in a continuous fashion. The vehicle incorporates an on-board computer and a stereo vision system to facilitate obstacle detection. A vehicle adaptation system with a priori ...


A General Architecture For Distributed Vr Interfaces, Thomas Batkiewicz, Abhishek Seth, Bryan Walter, Jared Knutzon, James H. Oliver Aug 2008

A General Architecture For Distributed Vr Interfaces, Thomas Batkiewicz, Abhishek Seth, Bryan Walter, Jared Knutzon, James H. Oliver

Mechanical Engineering Conference Presentations, Papers, and Proceedings

This paper describes a software architecture useful in creating new virtual reality interfaces across a clustered network of computers. The architecture takes advantage of a concept common to desktop application development, the event loop, and provides a method by which it can be shared effectively between nodes in a cluster. This method improves upon the common replication approach to cluster synchronization by creating a single, simple object to share, as well as by supporting node specialization in a generic cluster. The method is designed to be easily added to existing applications as well as speed the development of virtual reality ...


Implementation Of Digital Pheromones In Particle Swarm Optimization For Constrained Optimization Problems, Vijay Kalivarapu, Eliot H. Winer Jan 2008

Implementation Of Digital Pheromones In Particle Swarm Optimization For Constrained Optimization Problems, Vijay Kalivarapu, Eliot H. Winer

Mechanical Engineering Conference Presentations, Papers, and Proceedings

This paper presents a model for digital pheromone implementation of Particle Swarm Optimization (PSO) to solve constrained optimization problems. Digital pheromones are models simulating real pheromones produced by insects for communication to indicate a source of food or a nesting location. When integrated within PSO, this principle of communication and organization between swarm members offer substantial improvement in search accuracy, efficiency and reliability. Multiple pheromones are released in the design space, and the strength of a pheromone in a region of the design space is determined through empirical proximity analysis, and. The swarm then reacts accordingly based on the probability ...


Implementation Of Digital Pheromones In Pso Accelerated By Commodity Graphics Hardware, Vijay Kalivarapu, Eliot H. Winer Jan 2008

Implementation Of Digital Pheromones In Pso Accelerated By Commodity Graphics Hardware, Vijay Kalivarapu, Eliot H. Winer

Mechanical Engineering Conference Presentations, Papers, and Proceedings

In this paper, a model for Graphics Processing Unit (GPU) implementation of Particle Swarm Optimization (PSO) using digital pheromones to coordinate swarms within ndimensional design spaces is presented. 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 computing environments using traditional CPUs. 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 the recent times further provided a ...