Intuitive haptic control surface for mobile robot motion control

Haptic human-machine interfaces and similar techniques to enhancing human-robotic interaction offer significant potential over conventional approaches. This work considers achieving intuitive motion control of a tracked mobile robotic platform utilising a 3D virtual haptic cone. The 3D haptic cone extends upon existing approaches by introducing of a third dimension to the haptic control surface. It is suggested that this approach improves upon existing methods by providing the human operator with an intuitive method for issuing vehicle motion commands whilst still facilitating simultaneous real-time haptic augmentation regarding the task at hand. The presented approach is considered in the context of mobile robotic teleoperation however offers potential across many applications. Using the 2D haptic control surface as a benchmark, preliminary evaluation of the 3D haptic cone approach demonstrates a significant improvement in the ability to command the robot to cease motion.

3D virtual haptic cone for intuitive vehicle motion control

Haptic human-machine interfaces and interaction techniques have been shown to offer advantages over conventional approaches. This work introduces the 3D virtual haptic cone with the aim of improving human remote control of a vehicle's motion. The 3D cone introduces a third dimension to the haptic control surface over existing approaches. This approach improves upon existing methods by providing the human operator with an intuitive method for issuing vehicle motion commands whilst simultaneously receiving real-time haptic information from the remote system. The presented approach offers potential across many applications, and as a case study, this work considers the approach in the context of mobile robot motion control. The performance of the approach in providing the operator with improved motion controllability is evaluated and the performance improvement determined.

3D virtual haptic cone for intuitive vehicle motion control

Haptic technology provides the ability for a system to recreate the sense of touch to a human operator, and as such offers wide reaching advantages. The ability to interact with the human's tactual modality introduces haptic human-machine interaction to replace or augment existing mediums such as visual and audible information. A distinct advantage of haptic human-machine interaction is the intrinsic bilateral nature, where information can be communicated in both directions simultaneously. This paper investigates the bilateral nature of the haptic interface in controlling the motion of a remote (or virtual) vehicle and presents the ability to provide an additional dimension of haptic information to the user over existing approaches [1-4]. The 3D virtual haptic cone offers the ability to not only provide the user with relevant haptic augmentation pertaining to the task at hand, as do existing approaches, however, to also simultaneously provide an intuitive indication of the current velocities being commanded.

Low-sodium dietary approaches to stop hypertension-type diet including lean red meat lowers blood pressure in postmenopausal women

Low-sodium Dietary Approaches to Stop Hypertension (DASH) diets are base producing but restrict red meat without clear justification. We hypothesized that a vitality diet (VD), a low-sodium DASH-type diet with a low dietary acid load containing 6 servings of 100 g cooked lean red meat per week, would be more effective in reducing blood pressure (BP) compared with a higher acid load reference healthy diet (RHD) based on general dietary guidelines to reduce fat intake and increase intake of breads and cereals. A randomized, parallel dietary intervention study was conducted to compare the BP-lowering effect of these 2 diets in postmenopausal women with high/normal BP. Women were randomly assigned to follow either VD or RHD for 14 weeks. Home BP was measured daily with an automated BP monitor under standard conditions. Of 111 women commencing the study, 95 completed (46 VD, 49 RHD). Systolic BP (SBP) throughout the intervention was lower in the VD group compared to the RHD group (repeated-measures analysis of variance time by diet, P = .04), such that at the end of the study, the VD had a fall of SBP by 5.6 ± 1.3 mm Hg (mean ± SEM) compared with a fall of 2.7 ± 1.0 mm Hg in the RHD (group difference, P = .08). When only those taking antihypertensive medications were assessed, the VD (n = 17) had a significant fall of 6.5 ± 2.5 mm Hg SBP (P = .02) and 4.6 ± 1.4 mm Hg diastolic BP (P = .005) after 14 weeks, and their BP was lower than that of the RHD group (n = 18) throughout the study (P < .05). We concluded that a low-sodium DASH diet with a low dietary acid load, which also included lean red meat on most days of the week, was effective in reducing BP in older women, particularly in those taking antihypertensive medications.

Aura, real-time motion capture dance and 3D stereoscopic dance

Aura explored the potential of motion capture and 3D stereo projection to visualize 1950's dance philosopher, Susanne K. Langer's notion of 'virtual force'.

Choreographer-mathematician collaboration: developing machine segmentation techniques for motion capture analysis of dance

This paper/presentation focuses on the science of human movement, motion capture and cognition in action, and examines the necessity of choreographer-mathematician collaboration in developing appropriate analysis techniques.

Toward a broader appreciation of human motion in education

Motion is a fundamental activity for the healthy functioning human organism. Its importance, however, is increasingly de-valued in Western cultures as they speed toward adopting technologies and virtual experiences as adjuncts to, and even replacements for7 traditional educational structures and processes that involve physical activity. Organised and reflective experience of human motion is becoming increasingly marginalised in teaching methodologies and learning programs in educational institutions at all levels around the globe. This inquiry sets out to gain a greater understanding of why people and human motion become disconnected, particularly during periods of formal education. A central question and two sub-questions form the basis of the inquiry. The central question asks why human motion is not valued and more utilised in education. In particular, why do learning areas that directly represent involvement with human motion, such as physical education, continually struggle in education programs. It directs the investigation to focus on the causes rather than the symptoms of the disuse and devaluation of human motion in Australian education. The two sub-questions split the praxis of the study. The first seeks to understand how the causes of devaluation work in the educational context lo affect the lack of acknowledgement; and the second considers ways to counter the disuse of human movement in education programs. To address these questions, the research focuses on rebutting the notion of a mind-body dualism. Rather, it seeks to better understand how humans learn and function as monists - integrated beings, acquiring self-knowledge in their 'world of being' in which bodily and emotional experiences, and reasoning are inextricably intertwined. I have approached this qualitative research as an ethnographic sociologist examining the issues from a critical high modernist perspective in order to demonstrate the pervading influence in Australian education of strong beliefs and values from the era of Enlightenment. Narrative analysis of 'memoir' in the form of self-defining memories was selected to gain a sensibility of the connectedness between human emotion, motion and reasoning in the lived experiences of students in three primary and three secondary schools across Years 2-12. An opportunity for human movement to be more valued and utilised in emerging educational frameworks that have life knowledge, dispositions and capabilities at their core is identified. The inquiry proposes a conceptualisation of human motion in education for new times characterised by the need for people to develop personal resources and strong positive identities in order to cope with a world of rapid change and uncertainty.

Investigation of the intersection of constraints model of motion perception

The direction and speed of motion of a one-dimensional (1-D) stimulus, such as a grating, presented within a circular aperture is ambiguous. This ambiguity, referred to as the Aperture Problem (Fennema & Thompson, 1979) results from (i) the inability to detect motion parallel to grating orientation, and (ii) the occlusion of border information, such as the ‘ends’ of the grating, by the surface forming the aperture, Adelson and Movshon's (1982) intcrsection-of-constraints (IOC) model of motion perception describes a two-stage method of disambiguating the motion of 1-D moving stimuli (e.g., gratings) to produce unambiguous motion of two-dimensional (2-D) objects (e.g., plaid patterns) made up of several 1-D components. Specifically, in the IOC model ambiguous 1-D motions extracted by Stage 1 component-selective mechanisms are integrated by Stage 2 pattern-selective mechanisms to produce unambiguous 2-D motion signals. ‘Integration’ in the context of the IOC model involves determining the single motion vector (i.e., combination of direction and speed) which is consistent with the I-D components of a 2-D object. Since the IOC model assumes that 2-D objects undergo pure translation (i.e., without distortion, rotation, etc.), the motion vector consistent with all 1-D components describes the motion of the 2-D object itself. Adelson and Movshon (1982) propose that neural implementation of the computation underlying the IOC model is reflected in the perception of coherent 2-D plaid motion reported when two separately-moving ‘component’ gratings are superimposed. Using these plaid patterns the present thesis assesses the IOC model in terms of its ability to account for the perception of 2-D motion in a variety of circumstances. In the first series of experiments it is argued that the unambiguous motion perceived for a single grating presented within a rectangular aperture (i.e., the Barberpole illusion; Wallach, 1976) reflects application of the IOC computation to the moving 1-D grating and the stationary boundary of the aperture. While contrary to the assumption which underlies the IOC model (viz., that integration occurs between moving 1-D stimuli), evidence consistent with the involvement of the IOC computation in mediating the Barberpole illusion (in which there is only one moving stimulus) is obtained by measuring plaid coherence as a function of aperture shape. It is found that rectangular apertures which bias perceived component motions in directions consistent with plaid direction facilitate plaid coherence, while rectangular apertures which bias perceived component motions in directions inconsistent with plaid direction disrupt plaid coherence. In the second series of experiments, perceived directions of motion of type I symmetrical, type I asymmetrical, and type II plaids are measured with the aim of investigating the deviations in plaid directions reported by Ferrera and Wilson (1990) and Yo and Wilson (1992). Perceived directions of both asymmetrical and type II plaids are shown to deviate away from lOC-predicted directions and towards mean component direction. Furthermore, the magnitude of these deviations is being proportional to the difference between lOC-predicted plaid direction and mean component direction. On the basis of these directional deviations, modification to the IOC model is proposed. In the modified IOC model it is argued that plaid perception involves (i) the activity of Stage 2 pattern-selective mechanisms (and the Stage 1 component-selective mechanisms which input into these pattern-selective mechanisms) involved in implementing the IOC computation, and (ii) component-selective mechanisms which influence plaid perception directly, and ‘extraneously’ to the IOC computation. In the third series of experiments the validity of this modified IOC model, as well as the validity of alternative one-stage models of plaid perception are assessed in relation to perceived directions of plaid-induced MAEs as a function of both plaid direction and mean component direction. It is found that plaid-induced MAEs are shifted away from directions opposite to lOC-predicted plaid direction towards the direction opposite to mean component direction. This pattern of results is taken to be consistent with the modified IOC model which predicts the activity, and adaptation both of mechanisms signalling plaid direction (via implementation of the IOC computation), and ‘extraneous-type’ component-selective mechanisms signalling component directions. Alternative one-stage models which predict the adaptation of only mechanisms signalling plaid direction (the feature-tracking model), or the adaptation only of mechanisms signalling component directions (the distribution-of-activity model), cannot account for the directions of plaid-induced MAEs reported. The ability of the modified IOC model to account for the perceived directions of (i) gratings in rectangular apertures, (ii) various types of plaid in circular apertures, and (iii) directions of plaid-induced MAEs, is interpreted as supporting the proposition that human motion perception is based on a parallel and distributed process involving Stage 2 pattern-selective mechanisms (and the Stage 1 component-selective mechanisms which input into these mechanisms) taken to implement the IOC computation, and component-selective mechanisms taken to provide an 'extraneous' direct contribution to motion perception.

The roles of object-image relative motion and static depth information in the perception of heading

Investigates visual information that enables human to effectively guide their movement through the environment. This problem is fundamental to the study of human behaviour, since survival is contingent upon the acquisition of resources that lie in different locations throughout the environment.

Experiments with stochastic processes : facade subdivision based on wind motion

Constraint based tools for architectural design exploration need to satisfy aesthetic and functional criteria as well as combine discrete and continuous modes of exploration. In this paper, we examine the possibilities for stochastic processes in design space exploration.

Specifically, we address the application of a stochastic wind motion model to the subdivision of an external building envelope into smaller discrete components. Instead of deterministic subdivision constraints, we introduce explicit uncertainty into the system of subdivision. To address these aims, we develop a model of stochastic wind motion; create a subdivision scheme that is governed by the wind model and explore a design space of a facade subdivision problem. A discrete version of the facade, composed of light strips and panels, based on the bamboo elements deformed by continuous wind motion, is developed. The results of the experiments are presented in the paper.

Design earthquake ground motion prediction for Perth metropolitan area with microtremor measurements for site characterization

Perth is the largest city in Western Australia and home to three-quarters of the state's residents. In recent decades, there have been a lot of earthquake activities just east of Perth in an area known as the South-West Seismic Zone. Previous numerical results of site response analyses based on limited available geology information for PMA indicated that Perth Basin might amplify the bedrock motion by more than 10 times at some frequencies and at some sites. Hence, more detailed studies on site characterization and amplification are necessary. The microtremor method using spatial autocorrelation (SPAC) processing is a useful tool for gaining thickness and shear wave velocity (SWV) of sediments and has been adopted in many previous studies. In this study, the response spectrum of rock site corresponding to the 475-year return period for PMA is defined according to the probabilistic seismic hazard analysis (PSHA) based on the latest ground motion attenuation model of Southwest Western Australia. Site characterization in PMA is performed using two microtremor measurements, namely SPAC technique and H/V method. The clonal selection algorithm (CSA) is introduced to perform direct inversion of SPAC curves to determine the soil profiles of representative PMA sites investigated in this study. Using the simulated bedrock motion as input, the responses of the soil sites are estimated using numerical method based on the shear-wave velocity vs. depth profiles determined from the SPAC technique. The response spectrum of the earthquake ground motion on surface of each site is derived from the numerical results of the site response analysis, and compared with the respective design spectrum defined in the Australian Earthquake Loading Code. The comparison shows that the code spectra are conservative in the short period range, but may slightly underestimate the response spectrum at some long period range.