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Tsetserukou Dzmitry - One of the best experts on this subject based on the ideXlab platform.

  • SwarmCloak: Landing of Two Micro-Quadrotors on Human Hands Using Wearable Tactile Interface Driven by Light Intensity
    2020
    Co-Authors: Tsykunov Evgeny, Agishev Ruslan, Ibrahimov Roman, Moriyama Taha, Labazanova Luiza, Kajimoto Hiroyuki, Tsetserukou Dzmitry
    Abstract:

    For the human operator, it is often easier and faster to catch a small size quadrotor right in the midair instead of landing it on a surface. However, Interaction strategies for such cases have not yet been considered properly, especially when more than one drone has to be landed at the same time. In this paper, we propose a novel Interaction Strategy to land multiple robots on the human hands using vibrotactile feedback. We developed a wearable tactile display that is activated by the intensity of light emitted from an LED ring on the bottom of the quadcopter. We conducted experiments, where participants were asked to adjust the position of the palm to land one or two vertically-descending drones with different landing speeds, by having only visual feedback, only tactile feedback or visual-tactile feedback. We conducted statistical analysis of the drone landing positions, landing pad and human head trajectories. Two-way ANOVA showed a statistically significant difference between the feedback conditions. Experimental analysis proved that with an increasing number of drones, tactile feedback plays a more important role in accurate hand positioning and operator's convenience. The most precise landing of one and two drones was achieved with the combination of tactile and visual feedback.Comment: IEEE Haptics Symposium 202

  • SwarmTouch: Guiding a Swarm of Micro-Quadrotors with Impedance Control using a Wearable Tactile Interface
    'Institute of Electrical and Electronics Engineers (IEEE)', 2019
    Co-Authors: Tsykunov Evgeny, Agishev Ruslan, Ibrahimov Roman, Labazanova Luiza, Tleugazy Akerke, Tsetserukou Dzmitry
    Abstract:

    To achieve a smooth and safe guiding of a drone formation by a human operator, we propose a novel Interaction Strategy for a human-swarm communication which combines impedance control and vibrotactile feedback. The presented approach takes into account the human hand velocity and changes the formation shape and dynamics accordingly using impedance interlinks simulated between quadrotors, which helps to achieve a natural swarm behavior. Several tactile patterns representing static and dynamic parameters of the swarm are proposed. The user feels the state of the swarm at the fingertips and receives valuable information to improve the controllability of the complex formation. A user study revealed the patterns with high recognition rates. A flight experiment demonstrated the possibility to accurately navigate the formation in a cluttered environment using only tactile feedback. Subjects stated that tactile sensation allows guiding the drone formation through obstacles and makes the human-swarm communication more interactive. The proposed technology can potentially have a strong impact on the human-swarm Interaction, providing a higher level of awareness during the swarm navigation.Comment: \c{opyright} 20XX IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other work

  • SwarmTouch: Tactile Interaction of Human with Impedance Controlled Swarm of Nano-Quadrotors
    'Institute of Electrical and Electronics Engineers (IEEE)', 2019
    Co-Authors: Tsykunov Evgeny, Labazanova Luiza, Tleugazy Akerke, Tsetserukou Dzmitry
    Abstract:

    We propose a novel Interaction Strategy for a human-swarm communication when a human operator guides a formation of quadrotors with impedance control and receives vibrotactile feedback. The presented approach takes into account the human hand velocity and changes the formation shape and dynamics accordingly using impedance interlinks simulated between quadrotors, which helps to achieve a life-like swarm behavior. Experimental results with Crazyflie 2.0 quadrotor platform validate the proposed control algorithm. The tactile patterns representing dynamics of the swarm (extension or contraction) are proposed. The user feels the state of the swarm at his fingertips and receives valuable information to improve the controllability of the complex life-like formation. The user study revealed the patterns with high recognition rates. Subjects stated that tactile sensation improves the ability to guide the drone formation and makes the human-swarm communication much more interactive. The proposed technology can potentially have a strong impact on the human-swarm Interaction, providing a new level of intuitiveness and immersion into the swarm navigation.Comment: \c{opyright} 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. arXiv admin note: substantial text overlap with arXiv:1909.0229

Ricardo Carelli - One of the best experts on this subject based on the ideXlab platform.

  • multimodal human robot Interaction for walker assisted gait
    IEEE Systems Journal, 2016
    Co-Authors: Carlos A Cifuentes, Camilo Rodriguez, Anselmo Frizeraneto, Teodiano Bastosfilho, Ricardo Carelli
    Abstract:

    Human mobility is affected by different types of pathologies and also decreases gradually with age. In this context, Smart Walkers may offer important benefits for human assisted-gait in rehabilitation and functional compensation scenarios. This paper proposes a new Interaction Strategy for human–walker cooperation. The presented Strategy is based on the acquisition of human gait parameters by means of data fusion from inertial measurement units and a laser range finder. This paper includes the mathematical formulation of the controller, simulations, and practical experimentation of the Interaction Strategy, in order to show the performance of the control system, including the parameter detection methodology. In the experimental study, despite the continuous oscillation during the walking, the parameter estimation was suitable for assisted ambulation, showing an appropriate adaptive behavior with changes in human linear velocity. Finally, the controller keeps the walker continuously following in front of the human gait, and it is shown how the walker orientation follows the human orientation during the real experiments.

  • Human-robot Interaction in precision agriculture: Sharing the workspace with service units
    2015 IEEE International Conference on Industrial Technology (ICIT), 2015
    Co-Authors: Fernando Auat Cheein, Ricardo Carelli, Daniel Herrera, Javier Gimenez, Miguel Torres-torriti, Joan R. Rosell-polo, Alexandre Escolà, Jaume Arnó
    Abstract:

    Currently, Chile and Argentina experience serious challenges that affect their agricultural productivity. For example, in Chile, the loss of farmable field due to recent earthquakes, and volcanic eruptions as well as the loss of water reserves due to climate changes are affecting the agriculture. Additionally, both countries are facing a same problem: the loss of human labor force. Field workers are migrating from the farm to other fields in the industry which offer them more stable and more profitable jobs (like the mining industry in Chile, or car assembling lines in Argentina). In this adverse scenario, it becomes necessary to introduce and develop agricultural automation and sensing technologies for both primary (harvesting, seeding, fertilizing, spraying) and secondary tasks (grove supervision, weed detection, hauling, mowing). However, fully robotized farms are not yet a possibility since the transition from human labor force dependent farming to autonomous farming needs to be smooth and requires legal regulation not yet in discussion. In this paper, we summarize the state of the art in human-robot Interaction in farmable fields, with emphasis in the current constrains associated with flexible automatization of farms in Argentina and Chile. In particular, we introduce the guidelines for designing a humanrobot Interaction Strategy for harvesting tasks, that could be used for other agricultural tasks.

  • human robot Interaction based on wearable imu sensor and laser range finder
    Robotics and Autonomous Systems, 2014
    Co-Authors: Carlos A Cifuentes, Ricardo Carelli, Anselmo Frizera, Teodiano Bastos
    Abstract:

    Service robots are not only expected to navigate within the environment, as they also will may with people. Human tracking by mobile robots is essential for service robots and human Interaction applications. In this work, the goal is to add a more natural robot-human following in front based on the normal human gait model. This approach proposes implementing and evaluating a human-robot Interaction Strategy, using the integration of a LRF (Laser Range Finder) tracking of human legs with wearable IMU (Inertial Measurement Unit) sensors for capturing the human movement during the gait. The work was carried out in four stages: first, the definition of the model of human-robot Interaction and the control proposal were developed. Second, the parameters based on the human gait were estimated. Third, the robot and sensor integration setup are also proposed. Finally, the description of the algorithm for parameters detection is presented. In the experimental study, despite of the continuous oscillation during the walking, the parameters estimation was precise and unbiased, showing also repeatability with human linear velocities changes. The controller was evaluated with an eight-shaped curve, showing the stability of the controller even with sharp changes in the human path during real experiments.

Huang Cheng-guang - One of the best experts on this subject based on the ideXlab platform.

  • Numerical investigations of the transient cavitating vortical flow structures over a flexible NACA66 hydrofoil
    'Springer Science and Business Media LLC', 2020
    Co-Authors: Huang Ren-fang, Du Te-zhuan, Wang Yi-wei, Huang Cheng-guang
    Abstract:

    In this paper, the cavitating flow over a flexible NACA66 hydrofoil is studied numerically by a modified fluid-structure Interaction Strategy with particular emphasis on understanding the flow-induced vibration and the cavitating vortical flow structures. The modified coupling approaches include (1) the hydrodynamic solution obtained by the large eddy simulation (LES) together with a homogenous cavitation model, (2) the structural deformation solved with a cantilever beam equation, (3) fluid-structural interpolation and volume mesh motion based on the radial basis functions and greedy algorithm. For the flexible hydrofoil, the dominant flow-induced vibration frequency is twice of the cavity shedding frequency. The cavity shedding frequency is same for the rigid and flexible hydrofoils, demonstrating that the structure vibration is not large enough to affect the cavitation evolution. The predicted cavitating behaviors are strongly three-dimensional, that is, the cavity is (a) of a triangular shape near the hydrofoil tip, (b) of a rectangular shape near the hydrofoil root, and (c) with a strong unsteadiness in the middle of the span, including the attached cavity growth, oscillation and shrinkage, break-off and collapse downstream. The unsteady hydroelastic response would strongly affect the cavitation shedding process with small-scale fragments at the cavity rear part. Furthermore, three vortex identification methods (i.e., the vorticity, the Q- criteria and the omega method) are adopted to investigate the cavitating vortex structures around the flexible hydrofoil. It is indicated that the cavity variation trend is consistent with the vortex evolution. The vortex structures are distributed near the foil trailing edge and in the cavitation region, especially at the cavity-liquid interface. With the transporting downstream the shedding cavities, the vortices gradually increase in the wake flows

Chengguang Huang - One of the best experts on this subject based on the ideXlab platform.

  • numerical investigations of the transient cavitating vortical flow structures over a flexible naca66 hydrofoil
    Journal of Hydrodynamics, 2020
    Co-Authors: Renfang Huang, Yiwei Wang, Chengguang Huang
    Abstract:

    In this paper, the cavitating flow over a flexible NACA66 hydrofoil is studied numerically by a modified fluid-structure Interaction Strategy with particular emphasis on understanding the flow-induced vibration and the cavitating vortical flow structures. The modified coupling approaches include (1) the hydrodynamic solution obtained by the large eddy simulation (LES) together with a homogenous cavitation model, (2) the structural deformation solved with a cantilever beam equation, (3) fluid-structural interpolation and volume mesh motion based on the radial basis functions and greedy algorithm. For the flexible hydrofoil, the dominant flow-induced vibration frequency is twice of the cavity shedding frequency. The cavity shedding frequency is same for the rigid and flexible hydrofoils, demonstrating that the structure vibration is not large enough to affect the cavitation evolution. The predicted cavitating behaviors are strongly three-dimensional, that is, the cavity is (a) of a triangular shape near the hydrofoil tip, (b) of a rectangular shape near the hydrofoil root, and (c) with a strong unsteadiness in the middle of the span, including the attached cavity growth, oscillation and shrinkage, break-off and collapse downstream. The unsteady hydroelastic response would strongly affect the cavitation shedding process with small-scale fragments at the cavity rear part. Furthermore, three vortex identification methods (i.e., the vorticity, the Q- criteria and the Ω method) are adopted to investigate the cavitating vortex structures around the flexible hydrofoil. It is indicated that the cavity variation trend is consistent with the vortex evolution. The vortex structures are distributed near the foil trailing edge and in the cavitation region, especially at the cavity-liquid interface. With the transporting downstream the shedding cavities, the vortices gradually increase in the wake flows.

Tsykunov Evgeny - One of the best experts on this subject based on the ideXlab platform.

  • SwarmCloak: Landing of Two Micro-Quadrotors on Human Hands Using Wearable Tactile Interface Driven by Light Intensity
    2020
    Co-Authors: Tsykunov Evgeny, Agishev Ruslan, Ibrahimov Roman, Moriyama Taha, Labazanova Luiza, Kajimoto Hiroyuki, Tsetserukou Dzmitry
    Abstract:

    For the human operator, it is often easier and faster to catch a small size quadrotor right in the midair instead of landing it on a surface. However, Interaction strategies for such cases have not yet been considered properly, especially when more than one drone has to be landed at the same time. In this paper, we propose a novel Interaction Strategy to land multiple robots on the human hands using vibrotactile feedback. We developed a wearable tactile display that is activated by the intensity of light emitted from an LED ring on the bottom of the quadcopter. We conducted experiments, where participants were asked to adjust the position of the palm to land one or two vertically-descending drones with different landing speeds, by having only visual feedback, only tactile feedback or visual-tactile feedback. We conducted statistical analysis of the drone landing positions, landing pad and human head trajectories. Two-way ANOVA showed a statistically significant difference between the feedback conditions. Experimental analysis proved that with an increasing number of drones, tactile feedback plays a more important role in accurate hand positioning and operator's convenience. The most precise landing of one and two drones was achieved with the combination of tactile and visual feedback.Comment: IEEE Haptics Symposium 202

  • SwarmTouch: Guiding a Swarm of Micro-Quadrotors with Impedance Control using a Wearable Tactile Interface
    'Institute of Electrical and Electronics Engineers (IEEE)', 2019
    Co-Authors: Tsykunov Evgeny, Agishev Ruslan, Ibrahimov Roman, Labazanova Luiza, Tleugazy Akerke, Tsetserukou Dzmitry
    Abstract:

    To achieve a smooth and safe guiding of a drone formation by a human operator, we propose a novel Interaction Strategy for a human-swarm communication which combines impedance control and vibrotactile feedback. The presented approach takes into account the human hand velocity and changes the formation shape and dynamics accordingly using impedance interlinks simulated between quadrotors, which helps to achieve a natural swarm behavior. Several tactile patterns representing static and dynamic parameters of the swarm are proposed. The user feels the state of the swarm at the fingertips and receives valuable information to improve the controllability of the complex formation. A user study revealed the patterns with high recognition rates. A flight experiment demonstrated the possibility to accurately navigate the formation in a cluttered environment using only tactile feedback. Subjects stated that tactile sensation allows guiding the drone formation through obstacles and makes the human-swarm communication more interactive. The proposed technology can potentially have a strong impact on the human-swarm Interaction, providing a higher level of awareness during the swarm navigation.Comment: \c{opyright} 20XX IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other work

  • SwarmTouch: Tactile Interaction of Human with Impedance Controlled Swarm of Nano-Quadrotors
    'Institute of Electrical and Electronics Engineers (IEEE)', 2019
    Co-Authors: Tsykunov Evgeny, Labazanova Luiza, Tleugazy Akerke, Tsetserukou Dzmitry
    Abstract:

    We propose a novel Interaction Strategy for a human-swarm communication when a human operator guides a formation of quadrotors with impedance control and receives vibrotactile feedback. The presented approach takes into account the human hand velocity and changes the formation shape and dynamics accordingly using impedance interlinks simulated between quadrotors, which helps to achieve a life-like swarm behavior. Experimental results with Crazyflie 2.0 quadrotor platform validate the proposed control algorithm. The tactile patterns representing dynamics of the swarm (extension or contraction) are proposed. The user feels the state of the swarm at his fingertips and receives valuable information to improve the controllability of the complex life-like formation. The user study revealed the patterns with high recognition rates. Subjects stated that tactile sensation improves the ability to guide the drone formation and makes the human-swarm communication much more interactive. The proposed technology can potentially have a strong impact on the human-swarm Interaction, providing a new level of intuitiveness and immersion into the swarm navigation.Comment: \c{opyright} 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. arXiv admin note: substantial text overlap with arXiv:1909.0229