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ECE 495 – Integrated System Design I Overview of the Intelligent Systems (IS) Focus at Clemson Tim Burg Department of Electrical and Computer Engineering.

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Presentation on theme: "ECE 495 – Integrated System Design I Overview of the Intelligent Systems (IS) Focus at Clemson Tim Burg Department of Electrical and Computer Engineering."— Presentation transcript:

1 ECE 495 – Integrated System Design I Overview of the Intelligent Systems (IS) Focus at Clemson Tim Burg Department of Electrical and Computer Engineering Clemson University

2 ECE 495 – Integrated System Design I Defining an Intelligent System System Electrical Biological Chemical Mechanical Robotic Output Controller Computing Control Algorithm Linear Nonlinear Sensing Vision Estimation

3 ECE 495 – Integrated System Design I Core Expertise in Intelligent Systems Tim Burg Haptics Biofabrication Richard Groff Magnetic Fiber Control Ian Walker Soft Robots Stan Birchfield Vision Processing Ian Walker Soft Robots Darren Dawson Nonlinear Control

4 ECE 495 – Integrated System Design I Interesting Haptic Result Dynamic touch - use of muscle sensitivity to perceive mechanical properties of objects that are wielded in space. Can lift a coffee cup by its handle to estimate the volume – Attunement - user converges on perceptual variables that are correlated with the perceived property – Calibration - learning of the correct scaling factor for specifying variables through feedback

5 ECE 495 – Integrated System Design I Sense Mechanical Parameters When Wielding Subjects can estimate length Human haptic system is sensitive to time-varying forces and torques, it seems to use them to register mechanical quantities that remain invariant.

6 ECE 495 – Integrated System Design I Tricking Perception of Mechanical Parameters Masses attached at various positions on each rod so as to break the natural covariation between moments, show that length perception is related to Inertia and Static Moment Subjects incorrectly estimate length

7 ECE 495 – Integrated System Design I Haptic Device to Reproduce Experiments Quansar 5DOF Haptic Wand Can the device reproduce the dynamics of the wielded rod so user can estimate length? Can the device be used to attune the user to specific mechanical variables? Can the user be trained (calibrated) to estimate length from the perceived variables?

8 ECE 495 – Integrated System Design I Experimental Design of Haptic Experiments Haptic Simulation

9 ECE 495 – Integrated System Design I Results Results from the study suggest that subjects can be trained by the process of attunement and calibration to estimate physical properties (like length) based on perceived haptic information. The primary implications of these findings pertain to the design of virtual haptic surgical simulators where kinesthetic parameters may improve haptic perception and skills training and the transfer of learned skills to real environments. Conversely, if haptic feedback is not addressed in the simulator design then inappropriate, hidden negative training may occur that may be detrimental to skills transfer.

10 ECE 495 – Integrated System Design I A More Theoretical Framework Modeling – Haptics as a Leader/Follower System Control Design to Make Leader Feel the Environment of the Follower Observer to Estimate Input Force

11 ECE 495 – Integrated System Design I Where Can We Collaborate? System Electrical Biological Chemical Mechanical Robotic Output Controller Computing Control Algorithm Linear Nonlinear Sensing Vision Estimation Tim Burg Department of Electrical and Computer Engineering Clemson University


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