Data-based dynamic haptic interaction model with deformable 3D objects

The data-based modeling of the haptic interaction simulation is a growing trend in research. These techniques offer a quick alternative to parametric modeling of the simulation. So far, most of the use of the data-based techniques was applied to static simulations. This paper introduces how to use data-based model in dynamic simulations. This ensures realistic behavior and produce results that are very close to parametric modeling. The results show that a quick and accurate response can be achieved using the proposed methods.

Optimization-based formation of autonomous mobile robots

The formation of autonomous mobile robots to an arbitrary geometric pattern in a distributed fashion is a fundamental problem in formation control. This paper presents a new asynchronous, memoryless (oblivious) algorithm to the formation problem via distributed optimization techniques. The optimization minimizes an appropriately defined difference function between the current robot distribution and the target geometric pattern. The optimization processes are performed independently by individual robots in their local coordinate systems. A movement strategy derived from the results of the distributed optimizations guarantees that every movement makes the current robot configuration approaches the target geometric pattern until the final pattern is reached.

Towards autonomous image fusion

Mobile robots are providing great assistance operating in hazardous environments such as nuclear cores, battlefields, natural disasters, and even at the nano-level of human cells. These robots are usually equipped with a wide variety of sensors in order to collect data and guide their navigation. Whether a single robot operating all sensors or a swarm of cooperating robots operating their special sensors, the captured data can be too large to be transferred across limited resources (e.g. bandwidth, battery, processing, and response time) in hazardous environments. Therefore, local computations have to be carried out on board the swarming robots to assess the worthiness of captured data and the capacity of fused information in a certain spatial dimension as well as selection of proper combination of fusion algorithms and metrics. This paper introduces to the concepts of Type-I and Type-II fusion errors, fusion capacity, and fusion worthiness. These concepts together form the ladder leading to autonomous fusion systems.

Realistic autonomous fish for virtual reality

We create realistic autonomous fish for Virtual Reality systems. The fish are realistic in appearance, movement and behaviour: the swimming behaviour being non-scripted, within real time rendering.The form of the fish is procedurally created. The size and shape of the form are controlled by a number of variables which are stored in a simple ASCII file. This allows efficient creation of different fish at run time.The behaviour is obtained by implementing a flocking algorithm.

An energy-autonomous home in Melbourne - myth or reality?

Energy-autonomous buildings are possible. Completely energy self-sufficient houses can be found, for example, in Europe. If it is possible to cover the entire energy demand of a household from only renewable energy generated on site in a central European climate, what is required in a temperate climate, typical of southern Australia? This paper describes an investigation to broadly assess the technical, practical and financial feasibility of energy-autonomy for a hypothetical suburban house in Melbourne, Victoria. The findings firstly demonstrate the importance of reducing energy demand by using passive solar building strategies and energy efficient appliances to reduce demand to a reasonable level. The paper then discusses four scenarios and combinations of technologies to meet this reduced demand. The three scenarios which give energy autonomy increase the capital cost of a typical house by between 15% and 3%, and there would be insufficient roof area to accommodate the solar technologies required in two of the scenarios investigated. It is therefore concluded that while the goal of energy autonomy is technically feasible, it is not likely to be financially or practically acceptable. A fourth scenario of an energy-exporting house was also investigated and is shown to be a much more attractive option.

Data-driven computation of contact dynamics during two-point manipulation of deformable objects

This study represents a preliminary step towards data-driven computation of contact dynamics during manipulation of deformable objects at two points of contact. A modeling approach is proposed that characterizes the individual interaction at both points and the mutual effects of the two interactions on each other via a set of parameters. Both global as well as local coordinate systems are tested for encoding the contact mechanics. Artificial neural networks are trained on simulated data to capture the object behavior. A comparison of test data with the output of the trained system reveals a mean squared error percentage between 1% and 3% for simple interactions.

Grasping virtual objects with multi-point haptics

The majority of commercially available haptic devices offer a single point of haptic interaction. These devices are limited when it is desirable to grasp with multiple fingers in applications including virtual training, telesurgery and telemanipulation. Multipoint haptic devices serve to facilitate a greater range of interactions. This paper presents a gripper attachment to enable multi-point haptic grasping in virtual environments. The approach employs two Phantom Omni haptic devices to independently render forces to the user's thumb and other fingers. Compared with more complex approaches to multi-point haptics, this approach provides a number of advantages including low-cost, reliability and ease of programming. The ability of the integrated multi-point haptic platform to interact within a CHAI 3D virtual environment is also presented.

A multi-point haptic platform for grasping and manipulating virtual objects

This work presents a multi-point haptic platform that employs two Phantom Omni haptic devices. A gripper attachment connects to both devices and enables multi-point haptic grasping in virtual environments. In contrast to more complex approaches, this setup benefits from low-cost, reliability, and ease of programming while being capable of independently rendering forces to each of the user’s fingertips. The ability to grasp with multiple points potentially lends itself to applications such as virtual training, telesurgery and telemanipulation.

Formation control of weak autonomous robots

Formation of autonomous mobile robots to an arbitrary geometric pattern in a distributed fashion is a fundamental problem in formation control. This paper presents a new fully distributed, memoryless (oblivious) algorithm to the formation control problem via distributed optimization techniques. The optimization minimizes an appropriately defined difference function between the current robot distribution and target geometric pattern. The optimization processes are performed independently by individual robots in their local coordinate system. A movement strategy derived from the results of the distributed optimizations guarantees that every movement makes the current robot configuration approaches the target geometric pattern until the final pattern is reached.

How the financial crisis sundered the dream of the autonomous subject

The article discusses the effect of the 2008 economic meltdown on self-reliance. Banks are noted to have honored credit default swaps and purchase mortgages as collateralized debt obligations (CDO) with the option of buy back at face value. Also discussed are the Wall Street Bailout, the Australian banking system and the overseas debt of Australia.

Spatial reasoning via active observation

This paper presents a model for space in which an autonomous agent acquires information about its environment. The agent uses a predefined exploration strategy to build a map allowing it to navigate and deduce relationships between points in space. The shapes of objects in the environment are represented qualitatively. This shape information is deduced from the agent's motion. Normally, in a qualitative model, directional information degrades under transitive deduction. By reasoning about the shape of the environment, the agent can match visual events to points on the objects. This strengthens the model by allowing further relationships to be deduced. In particular, points that are separated by long distances, or complex surfaces, can be related by line-of-sight. These relationships are deduced without incorporating any metric information into the model. Examples are given to demonstrate the use of the model.

A cooperative cache architecture in support of caching multimedia objects in MANETs

This paper presents a cooperative caching architecture suitable for continuous media (CM) proxy caching in MANET environments. The proposed scheme introduces an application manager component, which is interposed between traditional Internet CM applications and the network layer. The application manager transparently performs data location and service migration of active CM streaming sessions so as to exploit nearby data sources based on the dynamic topology of a MANET. We propose two data location schemes - Cache-State - a link-state based scheme and Reactive - an on-demand scheme. Since service migration can occur frequently, the application manager uses soft-state signaling techniques to communicate between remote application managers by translating hard-state application signaling, such as Real Time Streaming Protocol (RTSP) into soft-state messages. The proposed schemes are evaluated through simulation studies using the NS simulator. Simulation studies show that both Cache-State and Reactive schemes demonstrate significant QoS improvements and reduced bandwidth consumption.