Engineering topics
Publications and source records attributed to Kim, W..
Model-based object pose refinement algorithms have been applied to rack stacking and pallet loading/uploading in the context of automated forklift operations in a warehouse environment.
A distributed operations system, the Web Interface for Telescience (WITS), is being developed for use in future planetary lander and rover mission operations.
The Mars Surveyor 2001 Lander will carry with it both a Robotic Arm and Rover to support various science and technology experiments.
A computer vision assisted semi-automatic virtual reality (VR) calibration technology has been developed that can accurately match a virtual environment of graphically simulated three-dimensional (3-D) models to the video images of the real task environment.
A virtual reality calibration technique of matching a virtual environment of simulated graphics models in 3-D geometry and perspective with actual camera views of the remote site task environment has been developed to enable high-fidelity preview/predictive displays with calibrated graphics overlay on live video.
An experimental telerobotics (TR) simulation suitable for studying human operator (H.O.) performance is described. Simple manipulator pick-and-place and tracking tasks allowed quantitative comparison of a number of calligraphic display viewing conditions. A number of control modes could be compared in this TR simulation, including displacement, rate and acceleratory control using position and force joysticks. A homeomorphic controller turned out to be no better than joysticks; the adaptive properties of the H.O. can apparently permit quite good control over a variety of controller configurations and control modes. Training by optimal control example seemed helpful in preliminary experiments. An introduced communication delay was found to produce decrease in performance. In considerable part, this difficulty could be compensated for by preview control information. That neurological control of normal human movement contains a data period of 0.2 second may relate to this robustness of H.O. control to delay. The Ames-Berkeley enhanced perspective display was utilized in conjunction with an experimental helmet mounted display system (HMD) that provided stereoscopic enhanced views.
Blink rate is reported to vary dependent upon ongoing task performance, perceptual, attentional and cognitive factors, and fatigue. Five levels of task difficulty were operationally defined and task performance as lines read aloud per minute were measured. A single noninvasive infrared TV eyetracker was modified to measure blinking and an on-line computer program identified and counted blinks while the subject performed the tasks. Blink rate decreased by 50% when either task performance increased (fast reading) or visual difficulty increased (blurred text); blink rate increased greatly during rest breaks. There was no change in blink rate during one hour experiments even though subjects complained of severe fatigue.