As robots become more prevalent, the need is growing for efficient yet stable control systems for applications with humans in the loop. As such, it is a challenge for scientists and engineers to develop robust and agile systems that are capable of detecting instability in teleoperated systems. Despite how much…
As robots become more prevalent, the need is growing for efficient yet stable control systems for applications with humans in the loop. As such, it is a challenge for scientists and engineers to develop robust and agile systems that are capable of detecting instability in teleoperated systems. Despite how much research has been done to characterize the spatiotemporal parameters of human arm motions for reaching and gasping, not much has been done to characterize the behavior of human arm motion in response to control errors in a system. The scope of this investigation is to investigate human corrective actions in response to error in an anthropomorphic teleoperated robot limb. Characterizing human corrective actions contributes to the development of control strategies that are capable of mitigating potential instabilities inherent in human-machine control interfaces. Characterization of human corrective actions requires the simulation of a teleoperated anthropomorphic armature and the comparison of a human subject's arm kinematics, in response to error, against the human arm kinematics without error. This was achieved using OpenGL software to simulate a teleoperated robot arm and an NDI motion tracking system to acquire the subject's arm position and orientation. Error was intermittently and programmatically introduced to the virtual robot's joints as the subject attempted to reach for several targets located around the arm. The comparison of error free human arm kinematics to error prone human arm kinematics revealed an addition of a bell shaped velocity peak into the human subject's tangential velocity profile. The size, extent, and location of the additional velocity peak depended on target location and join angle error. Some joint angle and target location combinations do not produce an additional peak but simply maintain the end effector velocity at a low value until the target is reached. Additional joint angle error parameters and degrees of freedom are needed to continue this investigation.
With the extreme strides taken in physics in the early twentieth century, one of the biggest questions on the minds of scientists was what this new branch of quantum physics would be able to be used for. The twentieth century saw the rise of computers as devices that significantly aided…
With the extreme strides taken in physics in the early twentieth century, one of the biggest questions on the minds of scientists was what this new branch of quantum physics would be able to be used for. The twentieth century saw the rise of computers as devices that significantly aided in calculations and performing algorithms. Because of the incredible success of computers and all of the groundbreaking possibilities that they afforded, research into using quantum mechanics for these systems was proposed. Although theoretical at the time, it was found that a computer that had the ability to leverage quantum mechanics would be far superior to any classical machine. This sparked a wave of interest in research and funding in this exciting new field. General-use quantum computers have the potential to disrupt countless industries and fields of study, like physics, medicine, engineering, cryptography, finance, meteorology, climatology, and more. The supremacy of quantum computers has not yet been reached, but the continued funding and research into this new technology ensures that one day humanity will be able to unlock the full potential of quantum computing.
