Prediction-based methods for teleoperation across delayed networks

The remote nature of telepresence scenarios can be seen as a strongpoint and also as a weakness. Although it enables the remote control of robots in dangerous or inaccessible environments, it necessarily involves some kind of communication mechanism for the transmission of control signals. This communication mechanism necessarily involves adverse network effects such as delay. Three mechanisms aimed at improving the effects of network delay are presented in this paper: (1) Motion prediction to partially compensate for network delays, (2) force prediction to learn a local force model, thereby reducing dependency on delayed force signals, and (3) haptic data compression to reduce the required bandwidth of high frequency data. The utilized motion prediction scheme was shown to improve operator performance, but had no influence on operator immersion. The force prediction provided haptic feedback through synchronous forces from the local model, thereby stabilizing the control loop. The developed haptic data compression scheme reduced the number of packets sent across the network by 90%, while improving the quality of the haptic feedback.     

Squeeze film effects on dynamic performance of MEMS μ-mirrors-consideration of gas rarefaction and surface roughness

The squeeze film behavior of MEMS torsion mirrors is modeled, analyzed and discussed. Effects of gas rarefaction (first-order slip-flow model with non-symmetric accommodation coefficients, ACs) and surface roughness are considered simultaneously by using the average Reynolds type equation (ARTE). Based on the operating conditions with small variations in film thickness and pressure, the ARTE is linearized. A coordinate transformation, by stretching or contracting the axes by referring to the roughness flow factors, is proposed to transform the linearized ARTE into a diffusion type modal equation. The dynamic coefficients (stiffness and damping coefficients) are then derived and expressed in analytical form. The results show that the tilting frequency (or Γ₀ squeeze number), roughness parameters (γ Peklenik numbers, σ standard deviation of composite roughness) and gas rarefaction parameters (D inverse Knudsen number, ACs) are all important parameters on analyzing the dynamic performance of MEMS torsion mirrors.     

Advanced product planning: a comprehensive process for systemic definition of new product requirements

This paper reports results of research into the definition of requirements for new consumer products––specifically, electro-mechanical products. The research dealt with the derivation of design requirements that are demonstrably aligned with stakeholder needs. The paper describes a comprehensive process that can enable product development teams to deal with statements of product requirements, as originally collected through market research activities, in a systematic and traceable manner from the early, fuzzy front end, stages of the design process. The process described has been based on principles of systems engineering. A case study from its application and evaluation drawn from the power sector is described in this paper. The case study demonstrates how the process can significantly improve product quality planning practices through revision of captured product requirements, analysis of stakeholder requirements and derivation of design requirements. The paper discusses benefits and issues from the use of the process by product development teams, and identifies areas for further research. Finally, the conclusions drawn from the reported research are presented.

A case study validation of a knowledge-based approach for the selection of requirements engineering techniques

Requirements engineering (RE) is a critical phase in the software engineering process and plays a vital role in ensuring the overall quality of a software product. Recent research has shown that industry increasingly recognizes the importance of good RE practices and the use of appropriate RE techniques. However, due to the large number of RE techniques, requirements engineers find it challenging to select suitable techniques for a particular project. Unfortunately, technique selection based on personal experience has limitations with regards to the scope, effectiveness and suitability of the RE techniques for the project at hand. In this paper, a Knowledge-based Approach for the Selection of Requirements Engineering Techniques (KASRET) is proposed that helps during RE techniques selection. This approach has three major features. First, a library of requirements techniques was developed which includes detailed knowledge about RE techniques. Second, KASRET integrates advantages of different knowledge representation schemata and reasoning mechanisms. Thus, KASRET provides mechanisms for the management of knowledge about requirements techniques and support for RE process development. Third, as a major decision support mechanism, an objective function evaluates the overall ability and cost of RE techniques, which is helpful for the selection of RE techniques. This paper makes not only a contribution to RE but also to research and application of knowledge management and decision support in process development. A case study using an industrial project shows the support of KASRET for RE techniques selection.

Socio-ethics of interaction with intelligent interactive technologies

Socio-ethics covers the relation of the individual with the group and with society, as the individual acquires the skills for social life with others and the conduct of ‘normal responsible behaviour’ (Leal in AI Soc 9:29–32, 1995) that guides moral action. For a consideration of what it means to be socially skilled in everyday human interaction and the ethical issues arising from the new conditions of interaction that come with the integration of intelligent interactive artefacts, we will provide an analysis at multiple levels of these phenomena and draw on a variety of application domains, for example, healthcare and interactive media.     

Imagining a non-biological machine as a legal person

As non-biological machines come to be designed in ways which exhibit characteristics comparable to human mental states, the manner in which the law treats these entities will become increasingly important both to designers and to society at large. The direct question will become whether, given certain attributes, a non-biological machine could ever be viewed as a “legal person.” In order to begin to understand the ramifications of this question, this paper starts by exploring the distinction between the related concepts of “human,” “person,” and “property.” Once it is understood that person in the legal sense can apply to a non-biological entity such as a corporation, the inquiry then goes on to examine the folk psychology view of intentionality and the concept of autonomy. The conclusion reached is that these two attributes can support the view that a non-biological machine, at least in theory, can be viewed as a legal person.

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Asimov’s “three laws of robotics” and machine metaethics

Using Asimov’s “Bicentennial Man” as a springboard, a number of metaethical issues concerning the emerging field of machine ethics are discussed. Although the ultimate goal of machine ethics is to create autonomous ethical machines, this presents a number of challenges. A good way to begin the task of making ethics computable is to create a program that enables a machine to act an ethical advisor to human beings. This project, unlike creating an autonomous ethical machine, will not require that we make a judgment about the ethical status of the machine itself, a judgment that will be particularly difficult to make. Finally, it is argued that Asimov’s “three laws of robotics” are an unsatisfactory basis for machine ethics, regardless of the status of the machine.

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A dynamic workflow framework for mass customization using web service and autonomous agent techniques

Custom software development and maintenance is one of the key expenses associated with developing automated systems for mass customization. This paper presents a method for reducing the risk associated with this expense by developing a flexible environment for determining and executing dynamic workflow paths. Strategies for developing an autonomous agent-based framework and for identifying and creating web services for specific process tasks are presented. The proposed methods are outlined in two different case studies to illustrate the approach for both a generic process with complex workflow paths and a more specific sequential engineering process.     

Copper planar microcoils applied to magnetic actuation

Recent advances in microtechnology allow realization of planar microcoils. These components are integrated in MEMS as magnetic sensor or actuator. In the latter case, it is necessary to maximize the effective magnetic field which is proportional to the current passing through the copper track and depends on the distance to the generation microcoil. The aim of this work was to determine the optimal microcoil design configuration for magnetic field generation. The results were applied to magnetic actuation, taking into account technological constraints. In particular, we have considered different realistic configurations that involve a magnetically actuated device coupled to a microcoil. Calculations by a semi-analytical method using Matlab software were validated by experimental measurements. The copper planar microcoils are fabricated by UV micromoulding on different substrates: flexible polymer (Kapton^®) and silicate on silicon. They are constituted by a spiral-like continuous track. Their total surface is about 1 mm².