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We present the design and implementation of a flexible force-vision-based interface; allowing local operators to visually specify a path constraint to a remote robot manipulator in an on-line fashion during the teleoperation. Using bilateral and unilateral configurations, we compare our system to direct teleoperation through user studies. Three performance metrics (smoothness, error and execution...
Transmission range is one of the main characteristics of a mote sensor node in WSN performance design and analysis. This work is aimed at studying the key performance metrics elements of a flat WSN such as: per query power consumption, and latency in terms of sensor radio communication range. The query-based experiments are implemented in the deterministic and nondeterministic environments of a WSN...
We present a human robot interface (HRI) for semi-autonomous human-in-the-loop control, that aims to tackle some of the challenges for robotics in unstructured environments. Our HRI lets the user specify desired object alignments in an image editor as geometric overlays on images. The HRI is based on the technique of visual task specification [1], which provides a well studied theoretical framework...
Upper-body disabled people can benefit from the use of robot-arms to perform every day tasks. However, the adoption of this kind of technology has been limited by the complexity of robot manipulation tasks and the difficulty in controlling a multiple-DOF arm using a joystick or a similar device. Motivated by this need, we present an assistive vision-based interface for robot manipulation. Our proposal...
Series pumps are used to boost oil flow in pipeline applications. Motors for these applications can be used in numerous configurations, both fixed speed and variable. Using operational data from a large pipeline company's historical database, various configurations will be investigated and analyzed. A typical three electrical motor series pumping configuration with different control methods will be...
We propose and develop an interactive semi-autonomous control of robot arms. Our system controls two interactions: (1) A user can naturally control a robot arm by a direct linkage to the arm motion from the tracked human skeleton. (2) An autonomous image-based visual servoing routine can be triggered for precise positioning. Coarse motions are executed by human teleoperation and fine motions by image-based...
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