Bilateral haptic teleoperation of an articulated track mobile robot

Teleoperation has been used in many applications, allowing a human operator to remotely control a robotic system in order to perform a particular task. Recently haptic teleoperation has focused mainly on improving performance in remote manipulation tasks, however the haptic approach offers similar advantages for teleoperative control of the motion of a mobile robot. This paper describes a prototype system designed to facilitate haptic teleoperation of an all-terrain, articulated track mobile robot. This system utilizes a multi-modal user interface intended to improve operator immersion, reduce operator overload and improve teleoperative task performance. The system architecture facilitates implementation of an application-specific haptic augmentation algorithm in order to improve operator performance in challenging real-world tasks. The contributions of this work can be categorized as the custom mobile platform, teleoperator interface and haptic augmentation strategy.

OzBot TM - Haptic augmentation of a teleoperated robotic platform for search and rescue operations

A continued increase in computing power, sensor capability, software functionality, immersive interfaces and hardware modularity has given robot designers seemingly endless potential in the area of mobile robotics.  While some mobile robotic system designers are focusing on expensive, full-featured platforms, developers are realising the advantages of emerging technology in providing small, low-cost mobile reconnaissance vehicles as expendable teleoperated robotic systems.  The OzBot^TM mobile reconnaissance platform presents one such system.  The design objectives of the OzBot^TM platform focus on the development of inexpensive, lightweight carry-case sized robots for search and rescue operations, law enforcement scenarios and hazardous environment inspection.  The incorporation of Haptic augmentation provides the teleoperator with improved task immersion for an outdoor search and rescue scenario.  Achieved in cooperation with law enforcement agencies within Australia, this paper discusses the performance of the first four revisions of the OzBot^TM platform.

An educational durian? Issues in teacher education in international collaboration

This paper looks at an international collaborative project in teacher education between Malaysian Institutes of teacher training and an Australian university from the perspectives of four of the participants. Two of the stories are from participants who are co-ordinating aspects of the collaboration, and two stories come from participants who were involved closely in the curriculum and teaching aspects of the program. These personal stories reveal that international collaborative projects are indeed like the durian: there are both good and bad aspects. Our differing roles in the program allow us to provide rich insights into such an international collaboration that we believe will be of benefit to others attempting similar projects.

Faculty collaboration in teaching global business, MBA teaching process

This presentation stems from global business teaching and ongoing research of an interactive group of professors working together in the service delivery of online MBA education at University of Maryland University College . A model for collaborative teaching by delocated professors who literally span the globe – from Australia to Canada, including the United Kingdom, both coasts of the USA, China and Dubai - is offered, underscoring the enormous mobility of knowledge and knowledge workers. Working together as a collaborating team, it was found that the "whole is greater than the sum of the parts". The teachers became more than a teaching team, they became a collaborating operation as they worked together in the sharing and development of materials, insights and knowledge. The model demonstrates how the teaching of global business in an MBA environment is really an exercise in the management of global service operations.

Database for structural steel experiments under a distributed collaboration environment

Due to the high requirements of civil infrastructures against the earthquake in Japan, a great number of research organizations have been conducting the structural steel experiments, in particular the seismic tests such as the cyclic loading test and the pseudo-dynamic test, for many years to determine the seismic performances of steel structures. However, the original test data gained by most research organizations are not well stored in an appropriate manner for distribution and possible usage of others. Although a Numerical Database of Steel Structures (NDSS) was developed some years ago to preserve and share experimental data of the ultimate strength tests acquired at Nagoya University, it was not easy to access this database from other computer platform due to the lack of the support of proper communication media. With the rapid development of information networks and their browsers, structural engineers and researchers are able to exchange various types of test data through Internet. This paper presents the development of a distributed collaborative database system for structural steel experiments. The database is made available on the World-Wide Web, and the Java language enables the interactive retrieval efficiently. The applications of the developed database system for the retrieval of experimental data and seismic numerical analysis are validated in the form of examples.

Nurse practitioner standards : an Australian and New Zealand research collaboration

This paper will report the findings from research conducted in Australia and New Zealand to inform development of standards for nurse practitioner education and practice competencies. In New Zealand and Australia the nurse practitioner is a new and unique level of health-care provider. The shifting boundaries caused by health-care reform have created impetus and demand for development of new models of health-care, but have also created some uncertainty regarding nurse practitioner standards, education and models of care. The title, Nurse Practitioner, is now legislated in New Zealand and most jurisdictions in Australia but there is scant research to inform development of nurse practitioner standards. This research, sponsored by the Australian Nursing Council and the Nursing Council of New Zealand, was conducted to develop generic standards that could be applied for the education, authorisation and practice of nurse practitioners in both countries. The study involved collection and triangulation of data from a range of sources across Australia and New Zealand including: in-depth interviews with 15 nurse practitioners from different geographical and clinical contexts; curriculum survey of all nurse practitioner courses in the two countries and interview with convenors of these courses; collation of the authorisation/registration processes and policies from states and territories in Australia, New Zealand and internationally. These data were analysed within and across the data modalities to provide information on standards for nurse practitioner practice and education. Findings from the study included identification of the core role of the nurse practitioner as it is expressed in New Zealand and Australia and generic standards for nurse practitioner competencies, education and authorisation. These findings will standardise expectations, support mutual recognition of nurse practitioner authorisation across the two countries and make an important contribution to the current international debate on nurse practitioner standards and scope of practice.

3D haptic needle insertion simulator utilising an agent based spherical voxel model

This paper describes a technique for the real-time modeling of deformable tissue. Specifically geared towards needle insertion simulation, the low computational requirements of the model enable highly accurate haptic feedback to a user without introducing noticeable time delay or buzzing generally associated with haptic surgery simulation. Using a spherical voxel array combined with aspects of computational geometry and agent communication and interaction principals, the model is capable of providing haptic update rates of over 1000Hz with real-time visual feedback. Iterating through over 1000 voxels per millisecond to determine collision and haptic response while making use of Vieta’s Theorem for extraneous force culling.

Made for China: global collaboration and understanding in advertising design

With a burgeoning economy and one of the world’s largest populations of consumers, the growth and opportunities for graphic design in Mainland China seem endless. Western design and advertising agencies are eager to capture the imaginations of the Mainland audience. The visual communications strategies proposed by western advertising agencies however, often display an inadequate understanding of the historical relevance of symbols and long held value sets of the Chinese consumer. Some agencies take the viewpoint that the Mainland audience wants a copy of things ‘western.’ This can be observed in the shopping districts of most major cities in China where billboards displaying oversized images of Caucasian models dominate the visual environment. Another commonly used strategy is to use a mix of visually interesting Chinese symbols without understanding the full meaning and implication of those symbols. The above illustrates that design educators must begin the process of cross-cultural awareness at the undergraduate level to assure that more effective creative strategies can be achieved in the future. This paper explores cultural confusion in design and the possibilities of overcoming these misunderstandings through cross-cultural collaboration.

Haptic control methodologies for telerobotic stair traversal

Teleoperated mobile robots provide the ability for a human operator to safely explore and evaluate hazardous environments. This ability represents an important progression towards the preservation of human safety in the inevitable response to situations such as terrorist activities and urban search and rescue. The benefits of removing physical human presence from such environments are obvious, however challenges inhibiting task performance when remotely operating a mobile robotic system need to be addressed. The removal of physical human presence from the target environment introduces telepresence as a vital consideration in achieving the desired objective. Introducing haptic human-robotic interaction represents one approach towards improving operator performance in such a scenario. Teleoperative stair traversal proves to be a challenging task when undertaking threat response in an urban environment. This article investigates the teleoperation of an articulated track mobile robot designed for traversing stairs in a threat response scenario. Utilising a haptic medium for bilateral human-robotic interaction, the haptic cone methodology is introduced with the aim of providing the operator with a vision-independent, intuitive indication of the current commanded robot velocity. The haptic cone methodology operates synergistically with the introduced fuzzy-haptic augmentation for improving teleoperator performance in the stair traversal scenario.