Exploiting ungrounded tactile haptic displays for mobile robotic teleoperation

Teleoperated mobile robotics offer potential use in a variety of different real-world applications including hazardous materials handling, urban search and rescue and explosive ordnance handling and disposal. Recent research discusses the use of Haptic technology in increasing task immersion and teleoperator performance. This work investigates the utility of low-cost, ungrounded tactile haptic interfaces in mobile robotic teleoperation. In order to achieve the desired implementation using only tactile sensation presents distinct challenges. Innovative haptic control methodologies providing the teleoperator with intuitive motion control and task-relevant haptic augmentation are presented within this paper.

Exploiting ungrounded tactile haptic displays for mobile robotic teleoperation

Teleoperated mobile robotics offer potential use in a variety of different real-world applications including hazardous materials handling, urban search and rescue and explosive ordnance handling and disposal. Recent research discusses the use of Haptic technology in increasing task immersion and teleoperator performance. This work investigates the utility of low-cost, ungrounded tactile haptic interfaces in mobile robotic teleoperation. In order to achieve the desired implementation using only tactile sensation presents distinct challenges. Innovative haptic control methodologies providing the teleoperator with intuitive motion control and task-relevant haptic augmentation are presented within this paper.

Concept design of a novel tactile probe tip for down scaled 3D CMMs

Although coordinate metrology has reached a very high state of development concerning versatility and accuracy for common engineering parts, a high precision capability with nano scale resolution and accuracy is often hard to achieve when it is required to measure very small parts and features. The limiting component is the bulky probing system of traditional CMMs (coordinate measuring machines). In order to satisfy increasing demand for highly accurate geometrical measurements on small parts and small structures, a new measuring probe of high sensitivity and small geometrical dimension with low contact forces needs to be developed. In this paper, a novel probing system, which combines a FBG (Fibre Bragg Grating) embedded optical fibre tactile probe with an optical sensing technique, has been proposed. With the sensor elements integrated into the probe tip directly, the system sensitivity can be increased significantly. A preliminary theoretical analysis of the sensitivity of the FBG fibre sensor under axial and lateral end point loading has been presented and the results show that this micro scale probe has great potential to realize a resolution of 1nanometer on geometrical measurement of small parts.

Effects of site of assessment and variation in wool quality traits on the tactile assessment of textural greasy wool handle

Variation in textural greasy wool handle across the fleece of Merino sheep was explored. Results demonstrate that there were significant differences across nine sites on the fleece. The inclusion of the covariates fibre diameter, fibre diameter co-efficient of variation, staple length, dust penetration, staple structure, greasy wool colour and resistance to compression, helped to explain some of the variation in textural greasy wool handle between sites such that site of assessment was no longer a significant factor (P ≤ 0.065). However, in practice, those involved with clip preparation or sheep selection based on textural greasy wool handle assessment are unlikely to have these measurements available. The results highlight the importance of nominating a site of assessment when recording textural greasy wool handle. © CSIRO 2014.

Effect of synthesis parameters on the electrical conductivity of polypyrrole-coated poly(ethylene terephthalate) fabrics

The effects of pyrrole, anthraquinone-2-sulphonic acid (AQSA) and iron(III) chloride (FeCl3) concentrations, reaction time and temperature on the electrical conductivity of polypyrrole (PPy) - coated poly(ethylene terephthalate) (PET) fabrics were investigated. With an increase in both the AQSA and FeCl3 concentrations, resistivity decreased to a point beyond which higher concentrations led to increased surface resistivity. Erosion of the polymer coating, in dynamic synthesis from continual abrasion, manifested as an exponential increase in the resistance of the coated textile substrate. This was not encountered in static synthesis conditions. Temperature affected the degree of surface and bulk polymerisation. The effect of polymerisation temperature on conductivity was negligible. Conductive polymer coating on textiles through chemical polymerisation enabled a smooth coherent film to encase individual fibres, which did not affect the tactile properties of the host substrate. The optimum FeCl3/pyrrole and AQSA FeCl3/pyrrole molar ratios were found to be 2.22 and 0.40 respectively.

Western maps/Yanyuwa meaning: an interview with John Bradley

In July 2003 an important one-volume text, Forget about Flinders: A Yanyuwa atlas of the south west gulf of Carpentaria produced in a limited edition of 14 copies, returned to Yanyuwa country and to the families who collaborated with John Bradley and artist Nona Cameron on the project. Subsequently, a second edition of 20 copies has been released, mainly to institutions. It is the most comprehensive attempt yet to restore Yanyuwa names to country and to produce a multilayered, dynamic, history-rich, and bilingual representation of how country is known in this community, and how the central song cycle texts intersect with Yanyuwa tradition. What follows is a condensed and edited interview with Frances Devlin-Glass, in which John Bradley discusses the motivations, the hybridised methodologies employed, the innovations of this new genre, and the pedagogical ends served by this latest iteration of Yanyuwa song cycles.

A `Rubber-hand` illusion reveals a relationship between perceptual body image and unhealthy body change

The ‘rubber-hand’ illusion, in which individuals misattribute tactile sensations felt by their hand to a rubber prosthetic hand that they see being stimulated, was employed to examine the relationship between perceptual body image and unhealthy body change in 128 volunteers. Variance in unhealthy body development in males (22%) and in bulimic symptomatology in both females and males (10%), was explained by susceptibility to the illusion. The illusion, which is relatively free from cognitive and emotional ‘contamination’, could be used to identify individuals most responsive to therapies designed to correct inaccurate body perceptions–individuals whose perceptual body image is malleable.