Building and Improving Tactical Agents in Real Time through a Haptic-Based Interface

2015 ◽  
Vol 24 (4) ◽  
pp. 383-403 ◽  
Author(s):  
Gary Stein ◽  
Avelino J. Gonzalez
Keyword(s):  
Decision Making ◽  
Real Time ◽  
Motor Skill ◽  
Road Network ◽  
Force Feedback ◽  
Haptic Device ◽  
Human Interaction ◽  
Learning Approach ◽  
New Approach ◽  
High Bandwidth

AbstractThis article describes and evaluates an approach to create and/or improve tactical agents through direct human interaction in real time through a force-feedback haptic device. This concept takes advantage of a force-feedback joystick to enhance motor skill and decision-making transfer from the human to the agent in real time. Haptic devices have been shown to have high bandwidth and sensitivity. Experiments are described for this new approach, named Instructional Learning. It is used both as a way to build agents from scratch as well as to improve and/or correct agents built through other means. The approach is evaluated through experiments that involve three applications of increasing complexity – chasing a fleer (Chaser), shepherding a flock of sheep into a pen (Sheep), and driving a virtual automobile (Car) through a simulated road network. The results indicate that in some instances, instructional learning can successfully create agents under some circumstances. However, instructional learning failed to build and/or improve agents in other instances. The Instructional Learning approach, the experiments, and their results are described and extensively discussed.

Real-Time Robot Capability Analysis

2005 ◽  
Author(s):  
Chalongrath Pholsiri ◽  
Chetan Kapoor ◽  
Delbert Tesar
Keyword(s):  
Decision Making ◽  
Path Planning ◽  
Real Time ◽  
Computationally Efficient ◽  
New Approach ◽  
Ellipsoid Method ◽  
Capability Analysis ◽  
Computationally Intensive ◽  
Planar Robots

Robot Capability Analysis (RCA) is a process in which force/motion capabilities of a manipulator are evaluated. It is very useful in both the design and operational phases of robotics. Traditionally, ellipsoids and polytopes are used to both graphically and numerically represent these capabilities. Ellipsoids are computationally efficient but tend to underestimate while polytopes are accurate but computationally intensive. This article proposes a new approach to RCA called the Vector Expansion (VE) method. The VE method offers accurate estimates of robot capabilities in real time and therefore is very suitable in applications like task-based decision making or online path planning. In addition, this method can provide information about the joint that is limiting a robot capability at a given time, thus giving an insight as to how to improve the performance of the robot. This method is then used to estimate capabilities of 4-DOF planar robots and the results discussed and compared with the conventional ellipsoid method. The proposed method is also successfully applied to the 7-DOF Mitsubishi PA10-7C robot.

scholarly journals Multibody-Based Piano Action: Validation of a Haptic Key

Machines ◽  
2020 ◽  
Vol 8 (4) ◽  
pp. 76
Author(s):  
Sébastien Timmermans ◽  
Bruno Dehez ◽  
Paul Fisette
Keyword(s):  
Real Time ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Fem Analysis ◽  
Haptic Device ◽  
Multibody Model ◽  
Custom Made ◽  
Transmitted Force ◽  
Grand Piano ◽  
The Voice

A piano key prototype actuated by a custom-made linear actuator is proposed to enhance the touch of digital pianos by reproducing the force feedback of an acoustic piano action. This paper presents the design and the validation of the haptic device. The approach exploits a multibody model to compute the action dynamics and the corresponding force on the key in real time. More specifically, a grand piano model that includes the five action bodies, its geometry and the specific force laws, is computed in the haptic device. A presizing step along with Finite Element Method (FEM) analysis produced an especially made actuator satisfying the design requirements, in particular the highly dynamic nature of the force to be transmitted. Force peaks, up to 50 (N) in less than 20 (ms), are reachable with low power consumption. Compared to previous solutions: (i) the key physical characteristics are preserved; (ii) the feedback is based on a real-time multibody model that is easily configurable and interchangeable; (iii) an experimental validation of the actuator within the prototype is developed and demonstrates its feasibility. The results confirm that the voice coil can produce suitable haptic feedback. In particular, rendering a grand piano action within the device shows promising haptic force profiles.

1552-P: Machine Learning Approach to Decision-Making for Initial Insulin Use in Japanese Patients with Type 2 Diabetes

Diabetes ◽  
2020 ◽  
Vol 69 (Supplement 1) ◽  
pp. 1552-P
Author(s):  
KAZUYA FUJIHARA ◽  
MAYUKO H. YAMADA ◽  
YASUHIRO MATSUBAYASHI ◽  
MASAHIKO YAMAMOTO ◽  
TOSHIHIRO IIZUKA ◽  
...  
Keyword(s):  
Machine Learning ◽  
Type 2 Diabetes ◽  
Decision Making ◽  
Japanese Patients ◽  
Learning Approach ◽  
Machine Learning Approach ◽  
Insulin Use

A Highly Efficient and Optimised Simulation Based Multi objective Decision-Making for FMS Control

2018 ◽  
Vol 6 (6) ◽  
pp. 98
Author(s):  
Shreyanshu Parhi ◽  
S. C. Srivastava
Keyword(s):  
Decision Making ◽  
Real Time ◽  
Manufacturing Industry ◽  
Simulation Software ◽  
Shop Floor ◽  
Simulation Tool ◽  
Routing Flexibility ◽  
Decision System ◽  
Multi Objective ◽  
Arena Simulation

Optimized and efficient decision-making systems is the burning topic of research in modern manufacturing industry. The aforesaid statement is validated by the fact that the limitations of traditional decision-making system compresses the length and breadth of multi-objective decision-system application in FMS.  The bright area of FMS with more complexity in control and reduced simpler configuration plays a vital role in decision-making domain. The decision-making process consists of various activities such as collection of data from shop floor; appealing the decision-making activity; evaluation of alternatives and finally execution of best decisions. While studying and identifying a suitable decision-making approach the key critical factors such as decision automation levels, routing flexibility levels and control strategies are also considered. This paper investigates the cordial relation between the system ideality and process response time with various prospective of decision-making approaches responsible for shop-floor control of FMS. These cases are implemented to a real-time FMS problem and it is solved using ARENA simulation tool. ARENA is a simulation software that is used to calculate the industrial problems by creating a virtual shop floor environment. This proposed topology is being validated in real time solution of FMS problems with and without implementation of decision system in ARENA simulation tool. The real-time FMS problem is considered under the case of full routing flexibility. Finally, the comparative analysis of the results is done graphically and conclusion is drawn.

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