Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
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<strong>Session</strong> WedGT2 Fenix 2 <strong>Wednesday</strong>, <strong>October</strong> <strong>10</strong>, <strong>2012</strong>, 17:30–18:30<br />
Telerobotics<br />
Chair Jordi Artigas, DLR - German Aerospace Center<br />
Co-Chair<br />
17:30–17:45 WedGT2.1<br />
Multi-Objective Optimization for Telerobotic<br />
Operations via the Internet<br />
Yunyi Jia 1 , Ning Xi 1,2 , Shuang Liu 2 , Huatao Zhang 1 and Sheng Bi 2<br />
1 Electrical and Computer Engineering Department,<br />
Michigan State University, USA<br />
2 Department of Mechanical and Biomedical Engineering,<br />
City University of Hong Kong, Hong Kong, China<br />
• Study the influence of the<br />
teleoperation condition variables<br />
on the telerobotic operations,<br />
including the quality of<br />
teleoperator, task dexterity and<br />
network quality<br />
• investigate the method to online<br />
identify these condition variables<br />
and employ them to enhance the<br />
telerobotic operations with multiple<br />
objectives.<br />
• Implemented on a mobile<br />
manipulator and verified its<br />
effectiveness.<br />
System framework<br />
Experiment implementation<br />
18:00–18:15 WedGT2.3<br />
Network Unfoldment and Application to Wave<br />
Variables using measured Forces<br />
J. Artigas<br />
Institute of Robotics and Mechatronic,<br />
DLR - German Aerospace Center, Germany<br />
• General network based<br />
representation, analysis and design.<br />
• A solution to the ambiguity of the<br />
channel causality.<br />
• Time Delay Power Networks: A new<br />
haptic channel representation<br />
paradigm.<br />
• Energy consistent application of the<br />
wave variables framework using<br />
sensed forces at the environment.<br />
17:45–18:00 WedGT2.2<br />
A master-slave robotic simulator based on<br />
GPUDirect<br />
Jianying Li, Yu Guo, Heye Zhang and Yongming Xie<br />
Shenzhen Institutes of Advanced Technology,<br />
Chinese Academy of Sciences, China<br />
• Surgery robotic training simulation<br />
• CUDA and GPUDirect version 1<br />
• Virtual surgery data transfer using<br />
GPUDirect between three<br />
computers by InfiniBand card<br />
• 247% performance improvement in<br />
data transmission speed in our<br />
master-slave robotic simulator<br />
18:15–18:30 WedGT2.4<br />
Unimodal Asymmetric Interface for<br />
Teleoperation of Mobile Manipulators:<br />
A User Study<br />
Alejandro Hernandez Herdocia, Azad Shademan,<br />
and Martin Jägersand<br />
Department of Computing Science, University of Alberta, Canada<br />
• Different methods to command one-arm<br />
mobile manipulator were studied:<br />
• Workspace Clutching (manipulator)<br />
• Differential End-Zone (manipulator)<br />
• Position/Rate Switching (manipulator)<br />
• Rate Control (mobile base)<br />
• Evaluated pick & place performance with<br />
7 subjects solving a Towers of Hanoi<br />
puzzle<br />
• Two case studies were presented:<br />
• Large-displacement pick & place<br />
• Opening a door and exiting a room<br />
<strong>2012</strong> IEEE/RSJ International Conference on Intelligent Robots and Systems<br />
–185–<br />
Mobile manipulator<br />
(SEGWAY+WAM) with<br />
asymmetric and haptics-enabled<br />
master-slave configuration.