Discrimination of visual and haptic rendering delays in networked environments

Many networked human-machine interface systems have a distributed structure for certain purposes such as more computational power, tele-presence, collaboration, and portability. However, network delays are inevitable in the distributed structure, and often make sensory information delivered behind time to the user. In the literature, the effect of network delays on the quality of information presentation has been considered with respect to task performances in most cases. In this paper, we pay attention to a more stringent criterion, namely whether perceptual artifacts caused by network delays are perceptible by the user. We examined minimum perceptible visual and/or haptic rendering delays by measuring their discrimination thresholds between normal and delayed virtual environments with and without a task, and report the results in this paper. We also provide a simple guideline for determining whether active delay compensation algorithms are required in a networked human-machine interface system by comparing representative network delays to the measured discrimination thresholds. Recommended by Guest Editor Phill Kyu Rhee. This work was supported in parts by a grant R01-2006-000-10808-0 and a NRL grant R0A-2008-000-20087-0 both from KOSEF and by a ITRC support program C1090-0804-0002 from IITA, all funded by the Korea government. In Lee is a Ph.D student in Computer Science and Engineering at POSTECH, of Korea. He received the B.S. degree in Information and Communication Engineering from Sungkyunkwan University in 2006. His research interests include haptics, virtual reality, and human-computer interaction. Seungmoon Choi is an Assistant Professor in Computer Science and engineering at POSTECH, Korea. He received the B.S. and M.S. degrees in Control and Instrumentation Engineering from Seoul National University in 1995 and 1997, respectively, and the Ph.D. degree in Electrical and Computer Engineering from Purdue University in 2003. His research areas include haptics, virtual reality, data perceptualization, and applied perception.     

On Robust Approximate Feedback Linearization: Control with Two Gain-scaling Factors

In this paper, we consider a problem of global stabilization for a class of approximately feedback linearized nonlinear systems. In order to handle more nonlinearity over the existing results, we provide a new feedback controller with two gain-scaling factors and we show that more nonlinearity can be treated by our control scheme. Moreover, we analytically show that the considered nonlinear systems can be stabilized by the proposed controller. Through comparison practical examples, we illustrate the improved features of our proposed control method.

     

A fast pattern matching algorithm with multi-byte search unit for high-speed network security

A signature-based intrusion detection system identifies intrusions by comparing the data traffic with known signature patterns. In this process, matching of packet strings against signature patterns is the most time-consuming step and dominates the overall system performance. Many signature-based network intrusion detection systems (NIDS), e.g., the Snort, employ one or multiple pattern matching algorithms to detect multiple attack types. So far, many pattern matching algorithms have been proposed. Most of them use single-byte standard unit for search, while a few algorithms such as the Modified Wu-Manber (MWM) algorithm use typically two-byte unit, which guarantees better performance than others even as the number of different signatures increases. Among those algorithms, the MWM algorithm has been known as the fastest pattern matching algorithm when the patterns in a rule set rarely appear in packets. However, the matching time of the MWM algorithm increases as the length of the shortest pattern in a signature group decreases.In this paper, by extending the length of the shortest pattern, we minimize the pattern matching time of the algorithm which uses multi-byte unit. We propose a new pattern matching algorithm called the L⁺¹-MWM algorithm for multi-pattern matching. The proposed algorithm minimizes the performance degradation that is originated from the dependency on the length of the shortest pattern. We show that the L⁺¹-MWM algorithm improves the performance of the MWM algorithm by as much as 20% in average under various lengths of shortest patterns and normal traffic conditions. Moreover, when the length of the shortest pattern in a rule set is less than 5, the L⁺¹-MWM algorithm shows 38.87% enhancement in average. We also conduct experiments on a real campus network and show that 12.48% enhancement is obtained in average. In addition, it is shown that the L⁺¹-MWM algorithm provides a better performance than the MWM algorithm by as much as 25% in average under various numbers of signatures and normal traffic conditions, and 20.12% enhancement in average with real on-line traffic.     

Scaled Jacobian transpose based control for robotic manipulators

This paper presents a scaled Jacobian transpose based control method for robotic manipulators as a modification of a conventional Jacobian transpose based method. The proposed method has several advantages such as it shows faster convergence and better tracking performance than the conventional method, furthermore, it does not have any singularity problem similar to the conventional method. The scaled Jacobian transpose is obtained by collecting each pseudoinverse of the column vector of the Jacobian matrix. The proposed method performs a given task well under singular configurations while minimizing the task error. Finally, a few comparative studies with the conventional method are provided to show the effectiveness of the proposed method through simulations.     

Online Avatar Motion Adaptation to Morphologically-similar Spaces

In avatar-mediated telepresence systems, a similar environment is assumed for involved spaces, so that the avatar in a remote space can imitate the user's motion with proper semantic intention performed in a local space. For example, touching on the desk by the user should be reproduced by the avatar in the remote space to correctly convey the intended meaning. It is unlikely, however, that the two involved physical spaces are exactly the same in terms of the size of the room or the locations of the placed objects. Therefore, a naive mapping of the user's joint motion to the avatar will not create the semantically correct motion of the avatar in relation to the remote environment. Existing studies have addressed the problem of retargeting human motions to an avatar for telepresence applications. Few studies, however, have focused on retargeting continuous full-body motions such as locomotion and object interaction motions in a unified manner. In this paper, we propose a novel motion adaptation method that allows to generate the full-body motions of a human-like avatar on-the-fly in the remote space. The proposed method handles locomotion and object interaction motions as well as smooth transitions between them according to given user actions under the condition of a bijective environment mapping between morphologically-similar spaces. Our experiments show the effectiveness of the proposed method in generating plausible and semantically correct full-body motions of an avatar in room-scale space.     

Supply chain coordination with risk sensitive retailer under target sales rebate

Target sales rebate (TSR) contracts have been shown to be useful in coordinating supply chains with risk-neutral agents. However, there have been few studies on the cases with risk sensitive agents. As a result, based on the classic Markowitz portfolio theory in finance, we carry out in this paper a mean–variance (MV) analysis of supply chains under TSR contracts. We study a supply chain with a single supplier and a single risk averse retailer. We propose TSR contracts for achieving coordination. We demonstrate how TSR contracts can coordinate the supply chain which takes into consideration the degree of risk aversion of the retailer. We find that the supplier can coordinate the channel with flexible TSR contracts. In addition, we extend the supply chain model to include sales effort decision of the retailer. Conditions for TSR contracts to coordinate the supply chain with sales effort of retailer are also derived.     

Age estimation using a hierarchical classifier based on global and local facial features

The research related to age estimation using face images has become increasingly important, due to the fact it has a variety of potentially useful applications. An age estimation system is generally composed of aging feature extraction and feature classification; both of which are important in order to improve the performance. For the aging feature extraction, the hybrid features, which are a combination of global and local features, have received a great deal of attention, because this method can compensate for defects found in individual global and local features. As for feature classification, the hierarchical classifier, which is composed of an age group classification (e.g. the class of less than 20 years old, the class of 20-39 years old, etc.) and a detailed age estimation (e.g. 17, 23 years old, etc.), provide a much better performance than other methods. However, both the hybrid features and hierarchical classifier methods have only been studied independently and no research combining them has yet been conducted in the previous works. Consequently, we propose a new age estimation method using a hierarchical classifier method based on both global and local facial features. Our research is novel in the following three ways, compared to the previous works. Firstly, age estimation accuracy is greatly improved through a combination of the proposed hybrid features and the hierarchical classifier. Secondly, new local feature extraction methods are proposed in order to improve the performance of the hybrid features. The wrinkle feature is extracted using a set of region specific Gabor filters, each of which is designed based on the regional direction of the wrinkles, and the skin feature is extracted using a local binary pattern (LBP), capable of extracting the detailed textures of skin. Thirdly, the improved hierarchical classifier is based on a support vector machine (SVM) and a support vector regression (SVR). To reduce the error propagation of the hierarchical classifier, each age group classifier is designed so that the age range to be estimated is overlapped by consideration of false acceptance error (FAE) and false rejection error (FRE) of each classifier. The experimental results showed that the performance of the proposed method was superior to that of the previous methods when using the BERC, PAL and FG-Net aging databases.     

Localization of a mobile robot based on an ultrasonic sensor using dynamic obstacles

In this article, we propose a localization scheme for a mobile robot based on the distance between the robot and moving objects. This method combines the distance data obtained from ultrasonic sensors in a mobile robot, and estimates the location of the mobile robot and the moving object. The movement of the object is detected by a combination of data and the object’s estimated position. Then, the mobile robot’s location is derived from the a priori known initial state. We use kinematic modeling that represents the movement of a robot and an object. A Kalman-filtering algorithm is used for addressing estimation error and measurement noise. Throughout the computer simulation experiments, the performance is verified. Finally, the results of experiments are presented and discussed. The proposed approach allows a mobile robot to seek its own position in a weakly structured environment. This work was presented in part at the 12th International Symposium on Artificial Life and Robotics, Oita, Japan, January 25–27, 2007     

Microfabrication and characterization of metal-embedded thin-film thermomechanical microsensors for applications in hostile manufacturing environments

Effective monitoring and diagnosis of manufacturing processes is of critical importance. If critical manufacturing process conditions are continuously monitored, problems can be detected and solved during the processing cycle. However, current technology still evidently lags behind practical needs. Microfabricated thin-film thermocouples and strain gauges are attractive for their small size and fast response. It is challenging to fabricate and embed these sensors into metallic components that are widely used in manufacturing. This paper investigates the fabrication, embedding, and characterization of metal embedded thin-film thermocouples and strain gauges. The materials (dielectric and metallic) constituting a complete microsensor were characterized and optimized. The results obtained from characterization and optimization of materials are presented and discussed. Thin-film thermocouples on stainless steel substrates (before and after embedding) were calibrated to elevated temperatures. The behavior of thin-film strain gauges was also studied. The metal embedded sensors demonstrated good accuracy, sensitivity, and linearity that matched the performance of commercial thermocouples and strain gauges well. The metal embedded microsensors are promising for in situ monitoring in hostile manufacturing environments.     

Almost rotation-minimizing rational parametrization of canal surfaces

Almost rotation minimizing parametrization of the canal surface is given. The basic building block of our approach is the curve approximation scheme that enables us to construct a curve, called the parameter curve, on the canal surface that produces, when projected and rescaled, an almost parallel normal vector field on the spine curve. Its construction relies on our earlier methods and results on relating the geometry of the canal surface to the Lorentzian geometry of the Minkowski geometry via the Clifford algebra formalism. We then iteratively construct patches out of the parameter curves via suitable interpolation procedure. Furthermore, its rotational deviation, i.e., the angle deviation from the parallel (no rotation) frame along the spine curve, can be controlled with the use of the rotation deviation estimate of the parameter curves. Our numerical experiment shows that the rotation deviation is minuscule. When compared with other earlier results including our earlier one, our result fares extremely favorably. To facilitate the implement, a practitioners' summary is given in the appendix.