Design and construction of a portable force-reflecting manual controller for teleoperation systems

A man-machine system called teleoperator system has been developed to work in hazardous environments such as nuclear reactor plants. Force reflection is a type of force feedback in which forces experienced by the remote manipulator are fed back to the manual controller. In a force-reflecting teleoperation system, the operator uses the manual controller to direct the remote manipulator and receives visual information from a video image and/or graphical animation on the computer screen. This thesis presents the design of a portable Force-Reflecting Manual Controller (FRMC) for the teleoperation of tasks such as hazardous material handling, waste cleanup, and space-related operations. The work consists of the design and construction of a prototype 1-Degree-of-Freedom (DOF) FRMC, the development of the Graphical User Interface (GUI), and system integration. Two control strategies - PID and fuzzy logic controllers are developed and experimentally tested. The system response of each is analyzed and evaluated. In addition, the concept of a telesensation system is introduced, and a variety of design alternatives of a 3-DOF FRMC are proposed for future development.

A method for enhancing digital information displayed to computer users with visual refractive errors via spatial and spectral processing

This research pursued the conceptualization, implementation, and verification of a system that enhances digital information displayed on an LCD panel to users with visual refractive errors. The target user groups for this system are individuals who have moderate to severe visual aberrations for which conventional means of compensation, such as glasses or contact lenses, does not improve their vision. This research is based on a priori knowledge of the user's visual aberration, as measured by a wavefront analyzer. With this information it is possible to generate images that, when displayed to this user, will counteract his/her visual aberration. The method described in this dissertation advances the development of techniques for providing such compensation by integrating spatial information in the image as a means to eliminate some of the shortcomings inherent in using display devices such as monitors or LCD panels. Additionally, physiological considerations are discussed and integrated into the method for providing said compensation. In order to provide a realistic sense of the performance of the methods described, they were tested by mathematical simulation in software, as well as by using a single-lens high resolution CCD camera that models an aberrated eye, and finally with human subjects having various forms of visual aberrations. Experiments were conducted on these systems and the data collected from these experiments was evaluated using statistical analysis. The experimental results revealed that the pre-compensation method resulted in a statistically significant improvement in vision for all of the systems. Although significant, the improvement was not as large as expected for the human subject tests. Further analysis suggest that even under the controlled conditions employed for testing with human subjects, the characterization of the eye may be changing. This would require real-time monitoring of relevant variables (e.g. pupil diameter) and continuous adjustment in the pre-compensation process to yield maximum viewing enhancement.

On-screen pre-deblurring of digital images using the wavefront aberration function of the human eye to improve computer access for the visually impaired

Traditional Optics has provided ways to compensate some common visual limitations (up to second order visual impairments) through spectacles or contact lenses. Recent developments in wavefront science make it possible to obtain an accurate model of the Point Spread Function (PSF) of the human eye. Through what is known as the "Wavefront Aberration Function" of the human eye, exact knowledge of the optical aberration of the human eye is possible, allowing a mathematical model of the PSF to be obtained. This model could be used to pre-compensate (inverse-filter) the images displayed on computer screens in order to counter the distortion in the user's eye. This project takes advantage of the fact that the wavefront aberration function, commonly expressed as a Zernike polynomial, can be generated from the ophthalmic prescription used to fit spectacles to a person. This allows the pre-compensation, or onscreen deblurring, to be done for various visual impairments, up to second order (commonly known as myopia, hyperopia, or astigmatism). The technique proposed towards that goal and results obtained using a lens, for which the PSF is known, that is introduced into the visual path of subjects without visual impairment will be presented. In addition to substituting the effect of spectacles or contact lenses in correcting the loworder visual limitations of the viewer, the significance of this approach is that it has the potential to address higher-order abnormalities in the eye, currently not correctable by simple means.

Design and implementation of a web based shop floor control system to maintain schedule feasibility in a dynamic job shop environment

The effective control of production activities in dynamic job shop with predetermined resource allocation for all the jobs entering the system is a unique manufacturing environment, which exists in the manufacturing industry. In this thesis a framework for an Internet based real time shop floor control system for such a dynamic job shop environment is introduced. The system aims to maintain the schedule feasibility of all the jobs entering the manufacturing system under any circumstance. The system is capable of deciding how often the manufacturing activities should be monitored to check for control decisions that need to be taken on the shop floor. The system will provide the decision maker real time notification to enable him to generate feasible alternate solutions in case a disturbance occurs on the shop floor. The control system is also capable of providing the customer with real time access to the status of the jobs on the shop floor. The communication between the controller, the user and the customer is through web based user friendly GUI. The proposed control system architecture and the interface for the communication system have been designed, developed and implemented.

User Effects on Wearable Conformal SCMR System

The performance of a compact, wearable Conformal Strongly Coupled Magnetic Resonance (CSCMR) system is studied when the antenna is in the air and is worn on a user’s arm. The wireless powering system consists of the receiver and load elements designed on a printed circuit board that is attached to a polyester fabric band. The wearable antenna achieves high efficiency, has a small volume, and can be easily printed on substrates. Although the user effect on mobile terminal antennas has been studied in detail, absorption losses in wearable antennas have not been widely investigated. Our results show that efficiency of the antenna in free space is 70% and on a user’s arm is 50%. Human tissue in the close proximity of our wearable Conformal SCMR caused a decrease in radiated efficiency and total efficiency. This undesired degradation in antenna efficiency might be attributed to body loss and absorption losses. Our findings can be used as a reference for future studies on wearable devices and their applications, such as health and sports monitoring.

Interface para tecnologia assistiva baseada em eletrooculografia

We propose in this work, a new method of conceptual organization of areas involving assistive technology, categorizing them in a logical and simple manner; Furthermore, we also propose the implementation of an interface based on electroculography, able to generate high-level commands, to trigger robotic, computer and electromechanical devices. To validate the eye interface, was developed an electronic circuit associated with a computer program that captured the signals generated by eye movements of users, generating high-level commands, able to trigger an active bracing and many other electromechanical systems. The results showed that it was possible to control many electromechanical systems through only eye movements. The interface is presented as a viable way to perform the proposed task and can be improved in the signals analysis in the the digital level. The diagrammatic model developed, presented as a tool easy to use and understand, providing the conceptual organization needs of assistive technology

Usabilidade da Interface do Sistema Eletrônico de Editoração de Revistas: um estudo da revista BiblioCanto da UFRN

The electronic journals correspond publishing channels and dissemination of scientific information. Through them, users can spread their studies as well as developing new researches. One of the systems used for creation and e-journals management is the Electronic System for Journal Publishing (SEER), used in the construction of periodic portals, as well as the creation of magazines in isolation. In this purport, it is believed that the management systems and creation of e-journals should be developed (internally and externally) according to the needs of its users. In the case of internal development, some of these processes refer to the copyright registration and submission of articles, which, in turn, are relevant tasks in the editorial process. Thus, the proposed study, thematic Usability of scientific journals, aims to analyze the usability of the copyright registration process and submission of articles in the Electronic System for Journal Publishing through BiblioCanto magazine, part of the Electronic Journals Portal of the Federal University of Rio Grande do Norte (UFRN). For the realization of the research, two valuation techniques were used: the Usability Test with a total of twenty participants and the Cooperative Evaluation, with the same number of participants separated in four categories considered target audience of that magazine, namely: undergraduate students, graduate students, teachers and librarians. The results indicated that the two analyzed processes (copyright registration and submission of articles) need improvement. In the case of the registration process, the following needs are: signalizing of the conducting registration ambient; description and exclusion of requested information on the registration form. In the process of article submission, it is emphasized improvement of aspects: the early steps to submission, signaling of required fields, concise description of the steps, minimization and review of the steps. To this end, it is believed that in general idea the SEER partially meets the needs of its users regarding the usability of such software.

Usabilidade da Interface do Sistema Eletrônico de Editoração de Revistas: um estudo da revista BiblioCanto da UFRN

The electronic journals correspond publishing channels and dissemination of scientific information. Through them, users can spread their studies as well as developing new researches. One of the systems used for creation and e-journals management is the Electronic System for Journal Publishing (SEER), used in the construction of periodic portals, as well as the creation of magazines in isolation. In this purport, it is believed that the management systems and creation of e-journals should be developed (internally and externally) according to the needs of its users. In the case of internal development, some of these processes refer to the copyright registration and submission of articles, which, in turn, are relevant tasks in the editorial process. Thus, the proposed study, thematic Usability of scientific journals, aims to analyze the usability of the copyright registration process and submission of articles in the Electronic System for Journal Publishing through BiblioCanto magazine, part of the Electronic Journals Portal of the Federal University of Rio Grande do Norte (UFRN). For the realization of the research, two valuation techniques were used: the Usability Test with a total of twenty participants and the Cooperative Evaluation, with the same number of participants separated in four categories considered target audience of that magazine, namely: undergraduate students, graduate students, teachers and librarians. The results indicated that the two analyzed processes (copyright registration and submission of articles) need improvement. In the case of the registration process, the following needs are: signalizing of the conducting registration ambient; description and exclusion of requested information on the registration form. In the process of article submission, it is emphasized improvement of aspects: the early steps to submission, signaling of required fields, concise description of the steps, minimization and review of the steps. To this end, it is believed that in general idea the SEER partially meets the needs of its users regarding the usability of such software.

LAPMv2 - software for underwater large-area photo-mosaicking

LAPMv2 is a research software solution specifically developed to allow marine scientists to produce geo-referenced visual maps of the seafloor, known as mosaics, from a set of underwater images and navigation data. LAPMv2 has a graphical user interface that guides the user through the different steps of the mosaicking workflow. LAPMv2 runs on 64-bit Windows, MacOS X and Linux operating systems. There are two versions for each operating system: (1) the WEB-installers (lightweight but require an internet connection during the installation) and (2) the MCR installers (large files but can be installed on computer without internet-connection). The user manual explains how to install and start the program on the different operating systems. Go to http://www.lapm.eu.com for further information about the latest versions of LAPMv2.

Serious Game no tratamento de obesidade infantil: uma proposta de interação natural com monitoramento remoto

The number of overweight people has increased in the last few years. Factors such as attention to diet and changes in lifestyle are crucial in the prevention and control of obesity and diseases related to it. Experts believe that such actions are most effective when initiated during childhood, and that children raised in an environment that encourages physical activity ultimately become healthier adults. However, to arouse and maintain interest in such activities represent a major challenge, which are initially perceived as repetitive and boring, and, thus, soon abandoned. Computer games, traditionally seen as stimulants to a sedentary lifestyle are changing this perception using non-conventional controls that require constant movement of the player. Applications that combine the playfulness of such games to physical activity through devices, like Microsoft Kinect, might become interesting tools in this scenario, by using the familiarity of Natural User Interfaces along with the challenge and the fun of video games, in order to make attractive exercise routines for schoolchildren. The project carried out consists of an exergame composed of several activities designed and implemented with the participation of a Physical Educator, aimed at children between eight and ten years old, whose performance and progress can be remotely monitored by a professional via web interface. The application arising from this work was accompanied by tests with a group of graduating Physical Education students from the University of Rio Verde GO, and subsequently validated through questionnaires whose results are shown on this work.

Experience with Rule Induction & k-Nearest Neighbour Methods for Interface Agents that Learn

Peer reviewed

A theory-informed approach to developing visually mediated interventions to change behaviour using an asthma and physical activity intervention exemplar

Funding for this study was received from the Chief Scientist Office for Scotland. We would like to thank Asthma UK and Asthma UK Scotland for facilitating the advertisement of the study pilot and consultative user group. Thanks to Dr Mark Grindle for his helpful discussions concerning narrative. Thanks also to Mr Mark Haldane who designed the characters, backgrounds, and user interface used within the 3D computer animation. Particular thanks to the participants of the consultative user group for their enthusiasm, comments, and suggestions at all stages of the intervention design.

Premelting-Induced Smoothening of the Ice-Vapor Interface

We perform computer simulations of the quasiliquid layer of ice formed at the ice-vapor interface close to the ice Ih-liquid-vapor triple point of water. Our study shows that the two distinct surfaces bounding the film behave at small wavelengths as atomically rough and independent ice-water and water-vapor interfaces. For long wavelengths, however, the two surfaces couple, large scale parallel fluctuations are inhibited, and the ice-vapor interface becomes smooth. Our results could help explain the complex morphology of ice crystallites.

Premelting-Induced Smoothening of the Ice-Vapor Interface

We perform computer simulations of the quasi-liquid layer of ice formed at the ice/vapor interface close to the ice Ih/liquid/vapor triple point of water. Our study shows that the two distinct surfaces bounding the film behave at small wave-lengths as atomically rough and independent ice/water and water/vapor interfaces. For long wave-lengths, however, the two surfaces couple, large scale parallel fluctuations are inhibited and the ice/vapor interface becomes smooth. Our results could help explaining the complex morphology of ice crystallites.

A Virtual Joystick as a Novel Interaction Modality for Surgeon-Computer Interaction During Computer-Assisted Surgical Procedures

Interacting with a computer system in the operating room (OR) can be a frustrating experience for a surgeon, who currently has to verbally delegate to an assistant every computer interaction task. This indirect mode of interaction is time consuming, error prone and can lead to poor usability of OR computer systems. This thesis describes the design and evaluation of a joystick-like device that allows direct surgeon control of the computer in the OR. The device was tested extensively in comparison to a mouse and delegated dictation with seven surgeons, eleven residents, and five graduate students. The device contains no electronic parts, is easy to use, is unobtrusive, has no physical connection to the computer and makes use of an existing tool in the OR. We performed a user study to determine its effectiveness in allowing a user to perform all the tasks they would be expected to perform on an OR computer system during a computer-assisted surgery. Dictation was found to be superior to the joystick in qualitative measures, but the joystick was preferred over dictation in user satisfaction responses. The mouse outperformed both joystick and dictation, but it is not a readily accepted modality in the OR.