Read Books Online and Download eBooks, EPub, PDF, Mobi, Kindle, Text Full Free.
Constant Visual And Haptic Time Delays In Teleoperation Control Stability And Human Operator Performance In A Simulated Virtual Reality Teleoperation
Download Constant Visual And Haptic Time Delays In Teleoperation Control Stability And Human Operator Performance In A Simulated Virtual Reality Teleoperation full books in PDF, epub, and Kindle. Read online Constant Visual And Haptic Time Delays In Teleoperation Control Stability And Human Operator Performance In A Simulated Virtual Reality Teleoperation ebook anywhere anytime directly on your device. Fast Download speed and no annoying ads. We cannot guarantee that every ebooks is available!
Book Synopsis Constant Visual and Haptic Time Delays in Teleoperation Control Stability and Human Operator Performance in a Simulated Virtual Reality Teleoperation by : Tariq Maysarah Abuhamdia
Download or read book Constant Visual and Haptic Time Delays in Teleoperation Control Stability and Human Operator Performance in a Simulated Virtual Reality Teleoperation written by Tariq Maysarah Abuhamdia and published by . This book was released on 2008 with total page 106 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Stability, Performance, and Implementation Issues in Bilateral Teleoperation Control and Haptic Simulation Systems by : Amir Haddadi
Download or read book Stability, Performance, and Implementation Issues in Bilateral Teleoperation Control and Haptic Simulation Systems written by Amir Haddadi and published by . This book was released on 2011 with total page 550 pages. Available in PDF, EPUB and Kindle. Book excerpt: Master-Slave teleoperation systems are designed to extend a human's manipulation capability to remote tasks. Recent applications of these systems are in robotic therapy, telesurgery, and medical simulators. In practice, due to the uncertainties in the operator and environment dynamics, and time delay, stability and performance are compromised. Stability-based and performance-based controllers are introduced for these systems. A major class of the former controllers are based on the passivity theory and suffer from the assumed unbounded range of dynamics which is rather unrealistic. The latter class of controllers are mostly adaptive methods that are based on performance optimization. The theme of this thesis is on the development of new stability analysis methods, control strategies, and implementation techniques for enhanced trade-off between stability and performance. I have developed a less conservative passivity-based robust stability method and introduced, for the first time, the notion of Bounded Impedance Absolute Stability. The method provides mathematical and visual aids to incorporate bounds of the passive environment impedance for less conservative guaranteed stability conditions, promising a better compromise between stability and performance. I have extended the new method to include the dynamic range of the human operator for increased stability margins. I have also used the new method to develop a bilateral controller robust to time delays. Furthermore, I have investigated the effect of sampling position versus velocity for various sampling models to obtain less conservative coupled stability conditions for haptic simulation systems. Estimates of the environment dynamics are required to include their variations. Therefore, I have proposed two new real-time parameter estimation methods for linear and nonlinear contacts and experimentally evaluated and compared them with the available techniques. Finally, I have introduced needle insertion as a task in telerobotic systems to combine the expertise of the surgeon with robotic control. Here, the very first few steps needed to effectively control the targeting needles have been taken. I have developed a mechanics-based dynamic model for bevel-tip flexible needles inserted into soft tissues. Finite element models are used to estimate soft tissue deformation, while the mechanics-based model is used to predict needle deflections due to bevel-tip asymmetry.
Book Synopsis Virtual Reality by : National Research Council
Download or read book Virtual Reality written by National Research Council and published by National Academies Press. This book was released on 1995-01-13 with total page 557 pages. Available in PDF, EPUB and Kindle. Book excerpt: Despite widespread interest in virtual reality, research and development efforts in synthetic environments (SE)â€"the field encompassing virtual environments, teleoperation, and hybridsâ€"have remained fragmented. Virtual Reality is the first integrated treatment of the topic, presenting current knowledge along with thought-provoking vignettes about a future where SE is commonplace. This volume discusses all aspects of creating a system that will allow human operators to see, hear, smell, taste, move about, give commands, respond to conditions, and manipulate objects effectively in a real or virtual environment. The committee of computer scientists, engineers, and psychologists on the leading edge of SE development explores the potential applications of SE in the areas of manufacturing, medicine, education, training, scientific visualization, and teleoperation in hazardous environments. The committee also offers recommendations for development of improved SE technology, needed studies of human behavior and evaluation of SE systems, and government policy and infrastructure.
Book Synopsis Stability of Haptic Display in Time-delayed Networked Virtual Environments by : Yang Hong
Download or read book Stability of Haptic Display in Time-delayed Networked Virtual Environments written by Yang Hong and published by . This book was released on 2005 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: With the development of Distributed Virtual Environment, haptic simulation is becoming a popular research field. However, time delay issue is always an obstacle in haptic simulation because this lag over the network-based haptic display violates the stability and performance of haptic display. In the research of teleoperations, some delay prediction methods have been introduced already; however, the performance requirements have been decreased to obtain the stability reducing the total loop gain. The design of virtual coupling, an artificial link between the haptic display and virtual environment, has been introduced into haptic interaction. However, in the traditional design, virtual coupling is always coupled with the virtual environment; as a result, stability condition for the haptic simulation becomes too tight because zero order hold has the phase lag over frequency. To guarantee the stability in the presence of unpredictable time delays new control design strategies are required. In this thesis, two-port network theory is introduced to design the virtual coupling to guarantee stability of haptic display in time-delayed Distributed Virtual Environments. By decoupling the hatpic display control problem from the design of virtual environments, the use of a virtual coupling network frees the developer of haptic-enabled virtual reality models from the issues of mechanical stability. Passivity criteria in two-port networks are introduced to guarantee stability of haptic interface with a unit time delay. Furthermore, two kinds of virtual environments models--"spring" and "spring-damping" have been simulated. Steady state error and transient response for the interaction between haptic displays and above virtual environments models are investigated. This technique overcomes the influence of time delay to violate the stability of the system and reduces the human risk involved.
Book Synopsis Stability of Haptic Virtual Environments and Teleoperation Systems by : Noushin Miandashti
Download or read book Stability of Haptic Virtual Environments and Teleoperation Systems written by Noushin Miandashti and published by . This book was released on 2014 with total page 96 pages. Available in PDF, EPUB and Kindle. Book excerpt: Three factors can jeopardize the stability of haptic virtual environments (HVE)s and teleoperation systems: (a) delayed communication channel, (b) controller discretization and (c) active operator intervention. This thesis studies the stability of these systems and investigates the simultaneous effect of all three de-stabilizing factors via a proposed unified framework. The conditions that ensure the stability of these systems are derived and reported. This thesis also addresses the stability problem in the context of teleoperation systems in the four-channel architecture in a passivity-based framework. While it is assumed that the teleoperation system operates in continuous-time and the terminations are passive, the communication delay is compensated for and the stability conditions are derived.
Book Synopsis A Virtual Reality-based Training Environment Using Haptic Interfaces by : Iman Shafieloo
Download or read book A Virtual Reality-based Training Environment Using Haptic Interfaces written by Iman Shafieloo and published by . This book was released on 2005 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Stability is a critical issue in haptic simulation. Unlike other conventional robotic manipulators, haptic devices inherently function in close proximity to humans. The unpredictable nature of human operator and the virtual environment are the main sources of instability in a stand alone haptic system. In the case of teleoperative haptic systems the criteria for stability is far more complicated than those studied for single-user systems. Stability and traceability in telehaptic systems are some of the main technical challenges in the field of shared virtual environments. The methods proposed in this thesis provide accurate 3D force reflecting telehaptic model to guarantee a stable teleoperation in a virtual environment that minimizes the tracking errors between the master and slave haptic devices. A control strategy is developed and investigated for maintaining and improving on the stability margins and achievable performances for telehaptic system as a training tool intended for bilateral interaction with virtual objects. Specifically a recursive adaptive method is developed and applied in order to minimize the tracking error between the master and slave haptic devices. A detailed comparative evaluation of the proposed control and estimation strategies is presented to illustrate the performance of the resulting controlled telehaptic system. The research presented here is based on an implementation environment consisting of master and slave haptic devices operating on a single workstation, which implies that improving the system response and performance in a network environment remains as another challenge and future work. The development of higher quality graphics accelerators, processors, high speed networks and data communications, specific protocols for 3D graphics and haptics world, specific real time algorithms and even the development of 3D modeling languages affect this next generation technology.
Book Synopsis Network-based Haptic Systems with Time-Delays by : Bogdan Cristian Liacu
Download or read book Network-based Haptic Systems with Time-Delays written by Bogdan Cristian Liacu and published by . This book was released on 2012 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: During the last decades, virtual environments have become very popular and are largely used in many domains as, for example, prototyping, trainings for different devices, assistance in completing difficult tasks, etc. The interaction with the virtual reality, as well as the feedback force, is assured by haptic interfaces. Generally, such systems are affected by communication and processing time-delays, resulting in a deterioration of performances. In this thesis, a complete study of the existing methods, as well as theoretical tools and new solutions, are proposed for the haptic framework. First, a comparative study, based on the experimental results obtained on a 1-dof haptic system, highlights the advantages and drawbacks of the most common control algorithms ported from teleoperation to haptics. Next, the theoretical tools needed in analyzing the stability of the delayed systems in different situations, as well as the physical limitations of the experimental platforms considered, are examined. Besides the standard case of constant time-delays, uncertainties are also considered and modeled by different types of distributions (uniform, normal and gamma distribution with gap). In the sequel, for overcoming the drawback of time-delays, two new approaches are proposed. First, the use of Smith predictor-based control is addressed and a specific solution for haptic systems is developed and discussed. The main idea is to introduce into the Smith predictor the environmental forces by using the additional information from the virtual reality regarding the distances between the controlled virtual object and other objects in the scene. To overcome the loss of performances induced by using a fixed gain in the controllers for all situations (free or restricted motions), the second approach proposes a gain-scheduling Proportional Derivative control strategy depending on the distance until a possible collision. Both approaches are experimentally validated on a 3-dof haptic platform, under different scenarios elaborated gradually from simple situations - free and restricted motion, contacts with moving objects, to more complex situations - virtual box with fixed or moving sides.
Book Synopsis Modeling the Effects of Time Lag in Virtual Reality (VR)-Based Haptic Surgical Simulator by :
Download or read book Modeling the Effects of Time Lag in Virtual Reality (VR)-Based Haptic Surgical Simulator written by and published by . This book was released on 2004 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The goal of this research was to evaluate a virtual reality (VR)-based simulation of a surgical task by using a model of human motor-control behavior to describe performance. The study was to serve as a basis for formulating general simulator design guidelines. In VR-based simulator design, there are often tradeoffs made between simulation fidelity, or realism, and computational (rendering) load on system processors to ensure acceptable performance. The greater the rendering load, the slower the response of the simulation to user actions and the lower user perceptions of realism. One way to assess the level of fidelity of a VR simulation for surgical training is to determine whether user motor behavior in virtual tasks conforms to established models of real discrete movement task performance, such as Fitts' Law. The implications of computational load on simulator realism can be evaluated by introducing artificial time delays in system responsiveness to control interface actions and determining whether lag is a significant predictor of motor control performance degradations, as compared to no lag conditions. Such assessment can be made by using an extension to Fitts' Law. A secondary objective of this study was to determine whether the impact of computational load on the conformance of motor control behavior with Fitts' Law varied across surgical task complexity settings. In addition to using a Fitts' task to assess the VR simulation, a tracking task with artificial time delays was simulated to assess the level of fidelity of the VR simulation on continuous motor performance. A simple surgical simulator was developed for the study. User performance was tested in virtual tissue cutting (with a virtual scalpel) under different system lag conditions and settings of task difficulty. Four levels of lag were introduced in the response of the simulation to a haptic control device including 0 msec, 50 msec, 100 msec and 150 msec. Two levels of task complexity were investigat.
Book Synopsis Telepresence: Actual and Virtual by : Thomas B. Sheridan
Download or read book Telepresence: Actual and Virtual written by Thomas B. Sheridan and published by CRC Press. This book was released on 2022-11-15 with total page 128 pages. Available in PDF, EPUB and Kindle. Book excerpt: Telepresence: Actual and Virtual explores the history of telepresence from the 1948 developments of master–slave manipulation, through to current telepresence technology used in space, undersea, surgery and telemedicine, operations in nuclear and other hazardous environments, policing and surveillance, agriculture, construction, mining, warehousing, education, amusement, social media, and other contexts. It also describes the various operator hand and body controls and the corresponding telerobotic actuation of robotic hands, arms, and locomotion. This book reviews the sensing and control technology, its history and likely future, and discusses the many research and policy issues that are raised. The book also takes up key questions relating to social and ethical issues, given that a person’s mechanical reach is becoming unlimited, enabling one to perform mischievous or harmful acts without identification, and what that portends for future developments in telepresence, including regulation and recommended directions of development. The primary audience for this book is professionals interested in human–robot interaction, human factors engineering, virtual reality, applications to space and undersea exploration, telemedicine and telesurgery, firefighting, mechanized agriculture, policing, drone surveillance, warehouse parts' fetching, mining, and military operations.
Book Synopsis Virtual Reality and Virtual Environments by : Andrzej Grabowski
Download or read book Virtual Reality and Virtual Environments written by Andrzej Grabowski and published by CRC Press. This book was released on 2020-07-29 with total page 152 pages. Available in PDF, EPUB and Kindle. Book excerpt: Virtual reality (VR) techniques are becoming increasingly popular. The use of computer modeling and visualization is no longer uncommon in the area of ergonomics and occupational health and safety. This book explains how studies conducted in a simulated virtual world are making it possible to test new solutions for designed workstations, offering a high degree of ease for introducing modifications and eliminating risk and work-related accidents. Virtual reality techniques offer a wide range of possibilities including increasing the cognitive abilities of the elderly, adapting workstations for people with disabilities and special needs, and remote control of machines using collaborative robots. Detailed discussions include: Testing protective devices, safety systems, and the numerical reconstruction of work accidents Using computer simulation in generic virtual environments On the one hand, it is a self-study book made so by well-crafted and numerous examples. On the other hand, through a detailed analysis of the virtual reality from a point of view of work safety and ergonomics and health improvement. Ewa Grabska, Jagiellonian University, Kraków, Poland Noteworthy is the broad scope and diversity of the addressed problems, ranging from training employees using VR environments with different degrees of perceived reality; training and rehabilitation of the elderly; to designing, testing, modifying, and adapting workplaces to various needs including those of disabled workers; to simulation and investigation of the cause of accidents at a workplace. Andrzej Krawiecki, Warsaw University of Technology, Warsaw, Poland
Book Synopsis Virtual Reality, Training’s Future? by : Robert J. Seidel
Download or read book Virtual Reality, Training’s Future? written by Robert J. Seidel and published by Springer Science & Business Media. This book was released on 1997-04-30 with total page 240 pages. Available in PDF, EPUB and Kindle. Book excerpt: In 1988, the NATO panel governing human sciences (Panel 8 on Defence Applica of Human and Bio-Medical Sciences) established a Research Study Group to synthe tions size information relevant to Advanced Technologies Applied to Training Design. During its first phase, the RSG established an active exchange of information on advanced tech nologies applied to training design and stimulated much military application of these tech nologies. With the increased emphasis on training throughout the alliance, Panel 8, during its April 1991 meeting decided to continue with Phase II of this RSG focusing in the area of advanced training technologies that were emerging within the alliance. In order to ac complish its mission, the RSG held a series of workshops. Leaders in technology and training were brought together and exchanged information on the latest developments in technologies applicable to training and education. This volume represents the last in a se ries based on the NATO workshops. In Part One, it details findings from the last work shop, Virtual Reality for Training; and in Part Two, we provide a summary perspective on Virtual Reality and the other emerging technologies previously studied. These include computer-based training, expert systems, authoring systems, cost-effectiveness, and dis tance learning. It is a natural extension to proceed from learning without boundaries to virtual envi ronments. From the extended classroom to the individual or team immersion in a distrib uted, virtual, and collaborative environment is an easy conceptual step.
Download or read book Haptic Rendering written by Ming C. Lin and published by CRC Press. This book was released on 2008-07-25 with total page 623 pages. Available in PDF, EPUB and Kindle. Book excerpt: For a long time, human beings have dreamed of a virtual world where it is possible to interact with synthetic entities as if they were real. It has been shown that the ability to touch virtual objects increases the sense of presence in virtual environments. This book provides an authoritative overview of state-of-theart haptic rendering algorithms
Book Synopsis Stable Haptic Interaction with Virtual Environments by : Richard J. Adams
Download or read book Stable Haptic Interaction with Virtual Environments written by Richard J. Adams and published by . This book was released on 1999 with total page 244 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Stable Haptic Interaction with Virtual Environments by : Richard J. Adams
Download or read book Stable Haptic Interaction with Virtual Environments written by Richard J. Adams and published by . This book was released on 1999 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: A haptic interface is a kinesthetic link between a human operator and a virtual environment. It allows the user of a virtual reality system to feel objects in a virtual world. This dissertation addresses fundamental stability and performance issues associated with haptic interaction. It generalizes and extends the concept of a virtual coupling network, an artificial link between the haptic display and a virtual environment, to include both impedance and admittance models of haptic interaction. A benchmark example is used to expose an important duality between these two cases. Linear circuit theory is employed to develop necessary and sufficient conditions for the stability of a haptic simulation, assuming the human operator and virtual environment are passive. This approach leads to design procedures for virtual coupling networks which give maximum performance while guaranteeing stability.
Book Synopsis Constructive Nonlinear Control by : R. Sepulchre
Download or read book Constructive Nonlinear Control written by R. Sepulchre and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 320 pages. Available in PDF, EPUB and Kindle. Book excerpt: Constructive Nonlinear Control presents a broad repertoire of constructive nonlinear designs not available in other works by widening the class of systems and design tools. Several streams of nonlinear control theory are merged and directed towards a constructive solution of the feedback stabilization problem. Analysis, geometric and asymptotic concepts are assembled as design tools for a wide variety of nonlinear phenomena and structures. Geometry serves as a guide for the construction of design procedures whilst analysis provides the robustness which geometry lacks. New recursive designs remove earlier restrictions on feedback passivation. Recursive Lyapunov designs for feedback, feedforward and interlaced structures result in feedback systems with optimality properties and stability margins. The design-oriented approach will make this work a valuable tool for all those who have an interest in control theory.
Book Synopsis The Tactile Internet by : Tara Ali-Yahiya
Download or read book The Tactile Internet written by Tara Ali-Yahiya and published by John Wiley & Sons. This book was released on 2022-01-06 with total page 258 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Tactile Internet will change the landscape of communication by introducing a new paradigm that enables the remote delivery of haptic data. This book answers the many questions surrounding the Tactile Internet, including its reference architecture and adapted compression methods for conveying haptic information. It also describes the key enablers for deploying the applications of the Tactile Internet. As an antecedent technology, the IoT is tackled, explaining the differences and similarities between the Tactile Internet, the Internet of Things and the Internet of Everything. The essentials of teleoperation systems are summarized and the challenges that face this paradigm in its implementation and deployment are also discussed. Finally, a teleoperation case study demonstrating an application of the Tactile Internet is investigated to demonstrate its functionalities, architecture and performance.
Download or read book Beyond Webcams written by Ken Goldberg and published by MIT Press. This book was released on 2002 with total page 362 pages. Available in PDF, EPUB and Kindle. Book excerpt: The design, function, and challenges of online telerobotic systems. Remote-controlled robots were first developed in the 1940s to handle radioactive materials. Trained experts now use them to explore deep in sea and space, to defuse bombs, and to clean up hazardous spills. Today robots can be controlled by anyone on the Internet. Such robots include cameras that not only allow us to look, but also go beyond Webcams: they enable us to control the telerobots' movements and actions. This book summarizes the state of the art in Internet telerobots. It includes robots that navigate undersea, drive on Mars, visit museums, float in blimps, handle protein crystals, paint pictures, and hold human hands. The book describes eighteen systems, showing how they were designed, how they function online, and the engineering challenges they meet.
