@proceedings {1902, title = {Improving Perception Accuracy with Multi-sensory Haptic Cue Delivery}, volume = {II}, year = {2018}, month = {June 13-16}, pages = {289-301}, publisher = {Springer International Publishing}, address = {Pisa, Italy}, abstract = {

This paper presents a novel, wearable, and multi-sensory haptic feedback system intended to support the transmission of large sets of haptic cues that are accurately perceived by the human user. Previous devices have focused on the optimization of haptic cue transmission using a single modality and have typically employed arrays of haptic tactile actuators to maximize information throughput to a user. However, when large cue sets are to be transmitted, perceptual interference between transmitted cues can decrease the efficacy of single-sensory systems. Therefore, we present MISSIVE (Multi-sensory Interface of Stretch, Squeeze, and Integrated Vibration Elements), a wearable system that conveys multi-sensory haptic cues to the user{\textquoteright}s upper arm, allowing for increased perceptual accuracy compared to a single-sensory vibrotactile array of a comparable size, conveying the same number of cues. Our multi-sensory haptic cues are comprised of concurrently rendered, yet perceptually distinct elements: radial squeeze, lateral skin stretch, and localized cutaneous vibration. Our experiments demonstrate that our approach can increase perceptual accuracy compared to a single-sensory vibrotactile system of comparable size and that users prefer MISSIVE.

}, isbn = {978-3-319-93399-3}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/dunkelberger\%202018\%20eurohaptics\%20compressed.pdf}, author = {Dunkelberger, Nathan and Bradley, Joshua and Sullivan, Jennifer L. and Israr, Ali and Lau, Frances and Klumb, Keith and Abnousi, Freddy and O{\textquoteright}Malley, Marcia K.}, editor = {Prattichizzo, Domenico and Shinoda, Hiroyuki and Tan, Hong Z. and Ruffaldi, Emanuele and Frisoli, Antonio} } @proceedings {1901, title = {The Rice Haptic Rocker: Comparing Longitudinal and Lateral Upper-Limb Skin Stretch Perception}, volume = {II}, year = {2018}, month = {06/2018}, pages = {125-134}, publisher = {Springer International Publishing}, address = {Pisa, Italy}, abstract = {

Skin stretch, when mapped to joint position, provides haptic feedback using a mechanism similar to our sense of proprioception . Rocker-type skin stretch devices typically actuate in the lateral direction of the arm, though during limb movement stretch about joint angles is in the longitudinal direction. In this paper, human perceptual performance in a target-hitting task is compared for two orientations of the Rice Haptic Rocker. The longitudinal direction is expected to be more intuitive due to the biological similarities, creating a more effective form of haptic feedback. The rockers are placed on the upper arm, and convey the position of a cursor among five vertically aligned targets. The longitudinal orientation results in smaller errors compared to the lateral case. Additionally, the outer targets were reached with less error than the inner targets for the longitudinal rocker. This result suggests longitudinal stretch is more easily discerned than laterally oriented stretch.

}, isbn = {978-3-319-93399-3}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/clark\%202018\%20eurohaptics\%20reduced.pdf}, author = {Clark, Janelle P. and Kim, Sung Y. and O{\textquoteright}Malley, Marcia K.}, editor = {Prattichizzo, Domenico and Shinoda, Hiroyuki and Tan, Hong Z. and Ruffaldi, Emanuele and Frisoli, Antonio} } @article {1784, title = {Modeling Electromechanical Aspects of Cyber-Physical Systems}, journal = {Journal of Software Engineering for Robotics (JOSER)}, volume = {7}, number = {1}, year = {2016}, month = {07/2016}, pages = {100-119}, chapter = {100}, abstract = {

Model-based tools have the potential to significantly improve the process of developing novel cyber-physical systems (CPS). In this paper, we consider the question of what language features are needed to model such systems. We use a small, experimental hybrid systems modeling language to show how a number of basic and pervasive aspects of cyber-physical systems can be modeled concisely using the small set of language constructs. We then consider four, more complex, case studies from the domain of robotics. The first, a quadcopter, illustrates that these constructs can support the modeling of interesting systems. The second, a serial robot, provides a concrete example of why it is important to support static partial derivatives, namely, that it significantly improves the way models of rigid body dynamics can be expressed. The third, a linear solenoid actuator, illustrates the language{\textquoteright}s ability to integrate multiphysics subsystems. The fourth and final, a compass gait biped, shows how a hybrid system with non-trivial dynamics is modeled. Through this analysis, the work establishes a strong connection between the engineering needs of the CPS domain and the language features that can address these needs. The study builds the case for why modeling languages can be improved by integrating several features, most notably, partial derivatives, differentiation without duplication, and support for equations. These features do not appear to be addressed in a satisfactory manner in mainstream modeling and simulation tools.

}, keywords = {Cyber-Physical Systems, Domain-Specific Language}, issn = {2035-3928}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/102-585-1-PB.pdf}, author = {Yingfu Zeng and Rose, Chad G. and Walid Taha and Adam Duracz and Kevin Atkinson and Roland Philippsen and Robert Cartwright and Marcia O{\textquoteright}Malley} } @proceedings {1765, title = {Acumen: An open-source testbed for cyber-physical systems research}, year = {2015}, month = {10/2015}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/cyclone15Taha.pdf}, author = {Walid Taha and Adam Duracz and Yingfu Zeng and Kevin Atkinson and Ferenc A.Bartha and Paul Brauner and Jan Duracz and Fei Xu and Robert Cartwright and Michal Konecny and Eugenio Moggi and Jawad Masood and Pererik Andreasson and Jun Inoue and Anita Santanna and Roland Philippsen and Alexandre Chapoutot and O{\textquoteright}Malley, M.K. and Aaron Ames and Veronica Gaspes and Lise Hvatum and Shyam Mehta and Henrik Eriksson and Christian Grante} } @proceedings {1767, title = {The role of auxiliary and referred haptic feedback in myoelectric control}, year = {2015}, month = {06/2015}, pages = {13-18}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Treadway2015\%20-\%20Haptic\%20feedback\%20myoelectric\%20control.pdf}, author = {Treadway, Emma and Gillespie, B and Bolger, D. and Blank, A. and O{\textquoteright}Malley, M.K. and Davis, A.} } @proceedings {1704, title = {Modeling Basic Aspects of Cyber-Physical Systems, Part II}, year = {2013}, address = {Tokyo, Japan}, abstract = {
We continue to consider the question of what
language features are needed to effectively model cyber-physical
systems (CPS). In previous work, we proposed using a core
language as a way to study this question, and showed how
several basic aspects of CPS can be modeled clearly in a
language with a small set of constructs. This paper reports
on the result of our analysis of two, more complex, case studies
from the domain of rigid body dynamics. The first one, a
quadcopter, illustrates that previously proposed core language
can support larger, more interesting systems than previously
shown. The second one, a serial robot, provides a concrete
example of why we should add language support for static
partial derivatives, namely that it would significantly improve
the way models of rigid body dynamics can be expressed.
}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/paper\%20\%285\%29.pdf}, author = {Yingfu Zeng and Rose, Chad G. and Paul Branner and Walid Taha and Jawad Masood and Roland Philippsen and Marcia K. O{\textquoteright}Malley and Robert Cartwright} } @proceedings {1881, title = {Preliminary Results in Virtual Testing for Smart Buildings}, year = {2012}, publisher = {Springer Berlin Heidelberg}, address = {Berlin, Heidelberg}, abstract = {

Smart buildings promise to revolutionize the way we live. Applications ranging from climate control to fire management can have significant impact on the quality and cost of these services. However, a smart building and any technology with direct effect on the safety of its occupants must undergo extensive testing. Virtual testing by means of computer simulation can significantly reduce the cost of testing and, as a result, accelerate the development of novel applications. Unfortunately, building physically-accurate simulation codes can be labor intensive.

}, isbn = {978-3-642-29154-8}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/bruneau2012lnicst.pdf}, author = {Bruneau, Julien and Consel, Charles and O{\textquoteright}Malley, Marcia and Taha, Walid and Hannourah, Wail Masry}, editor = {S{\'e}nac, Patrick and Ott, Max and Seneviratne, Aruna} } @proceedings {1295, title = {Comparison of Reaching Kinematics During Mirror and Parallel Robot Assisted Movements}, year = {2011}, month = {02/2011}, address = {Newport Beach, CA}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/1295-MMVR18-Kadivar_Z.pdf}, author = {Zahra KADIVAR and Cynthia SUNG and Zachary THOMPSON and Marcia O{\textquoteright}MALLEY and Michael LIEBSCHNER and Deng, Zhigang} } @proceedings {1875, title = {A Fully Automated System for the Preparation of Samples for Cryo-Electron Microscopy}, year = {2010}, publisher = {American Society of Mechanical Engineers}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/thompson2010asme.pdf}, author = {Thompson, Zachary J and Johnson, Kevin L and Overby, Nicolas and Chidi, Jessica I and Pryor, William K and O{\textquoteright}Malley, Marcia K} } @proceedings {mathequations, title = {Mathematical Equations as Executable Models of Mechanical Systems}, year = {2010}, abstract = {

Cyber-physical systems comprise digital components that directly interact with a physical environment. Specifying the behavior desired of such systems requires analytical modeling of physical phenomena. Similarly, testing them requires simulation of continuous systems. While numerous tools support later stages of developing simulation codes, there is still a large gap between analytical modeling and building running simulators. This gap significantly impedes the ability of scientists and engineers to develop novel cyber-physical systems. We propose bridging this gap by automating the mapping from analytical models to simulation codes. Focusing on mechanical systems as an important class of models of physical systems, we study the form of analytical models that arise in this domain, along with the process by which domain experts map them to executable codes. We show that the key steps needed to automate this mapping are 1) a light-weight analysis to partially direct equations, 2) a binding-time analysis, and 3) an efficient implementation of symbolic differentiation. As such, our work pinpoints and highlights a number of limitations in the state of the art in tool support of simulation, and shows how some of these limitations can be overcome.

}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/zhu2010ieee.pdf}, author = {Angela Yun Zhu and Edwin Westbrook and Jun Inoue and Alexandre Chapoutot and Cherif Salama and Marisa Peralta and Travis Martin and Walid Taha and Robert Cartwright and O{\textquoteright}Malley, M.K.} } @proceedings {920, title = {Implementing Haptic Feedback Environments from High-level Descriptions}, year = {2009}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/zhu2009shoes.pdf}, author = {Angela Yun Zhu and Jun Inoue and Marisa Peralta and Walid Taha and O{\textquoteright}Malley, M.K. and Powell, Dane} }