TY - Generic T1 - Improving Perception Accuracy with Multi-sensory Haptic Cue Delivery T2 - EuroHaptics Y1 - 2018 A1 - Dunkelberger, Nathan A1 - Bradley, Joshua A1 - Sullivan, Jennifer L. A1 - Israr, Ali A1 - Lau, Frances A1 - Klumb, Keith A1 - Abnousi, Freddy A1 - O'Malley, Marcia K. ED - Prattichizzo, Domenico ED - Shinoda, Hiroyuki ED - Tan, Hong Z. ED - Ruffaldi, Emanuele ED - Frisoli, Antonio AB -

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'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.

JF - EuroHaptics PB - Springer International Publishing CY - Pisa, Italy VL - II SN - 978-3-319-93399-3 ER - TY - Generic T1 - The Rice Haptic Rocker: Comparing Longitudinal and Lateral Upper-Limb Skin Stretch Perception T2 - EuroHaptics Y1 - 2018 A1 - Clark, Janelle P. A1 - Kim, Sung Y. A1 - O'Malley, Marcia K. ED - Prattichizzo, Domenico ED - Shinoda, Hiroyuki ED - Tan, Hong Z. ED - Ruffaldi, Emanuele ED - Frisoli, Antonio AB -

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.

JF - EuroHaptics PB - Springer International Publishing CY - Pisa, Italy VL - II SN - 978-3-319-93399-3 ER - TY - JOUR T1 - Modeling Electromechanical Aspects of Cyber-Physical Systems JF - Journal of Software Engineering for Robotics (JOSER) Y1 - 2016 A1 - Yingfu Zeng A1 - Rose, Chad G. A1 - Walid Taha A1 - Adam Duracz A1 - Kevin Atkinson A1 - Roland Philippsen A1 - Robert Cartwright A1 - Marcia O'Malley KW - Cyber-Physical Systems KW - Domain-Specific Language AB -

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’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.

VL - 7 ER - TY - Generic T1 - Acumen: An open-source testbed for cyber-physical systems research T2 - EAI International Conference on CYber physiCaL systems, iOt and sensors Networks Y1 - 2015 A1 - Walid Taha A1 - Adam Duracz A1 - Yingfu Zeng A1 - Kevin Atkinson A1 - Ferenc A.Bartha A1 - Paul Brauner A1 - Jan Duracz A1 - Fei Xu A1 - Robert Cartwright A1 - Michal Konecny A1 - Eugenio Moggi A1 - Jawad Masood A1 - Pererik Andreasson A1 - Jun Inoue A1 - Anita Santanna A1 - Roland Philippsen A1 - Alexandre Chapoutot A1 - O'Malley, M.K. A1 - Aaron Ames A1 - Veronica Gaspes A1 - Lise Hvatum A1 - Shyam Mehta A1 - Henrik Eriksson A1 - Christian Grante JF - EAI International Conference on CYber physiCaL systems, iOt and sensors Networks ER - TY - Generic T1 - The role of auxiliary and referred haptic feedback in myoelectric control T2 - IEEE World Haptics Conference (WHC) Y1 - 2015 A1 - Treadway, Emma A1 - Gillespie, B A1 - Bolger, D. A1 - Blank, A. A1 - O'Malley, M.K. A1 - Davis, A. JF - IEEE World Haptics Conference (WHC) ER - TY - Generic T1 - Modeling Basic Aspects of Cyber-Physical Systems, Part II T2 - The Fourth International Workshop on Domain-Specific Languages and Models for Robotic Systems (DSLRob'13) Y1 - 2013 A1 - Yingfu Zeng A1 - Rose, Chad G. A1 - Paul Branner A1 - Walid Taha A1 - Jawad Masood A1 - Roland Philippsen A1 - Marcia K. O'Malley A1 - Robert Cartwright AB -
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.
JF - The Fourth International Workshop on Domain-Specific Languages and Models for Robotic Systems (DSLRob'13) CY - Tokyo, Japan ER - TY - Generic T1 - Preliminary Results in Virtual Testing for Smart Buildings T2 - Mobile and Ubiquitous Systems: Computing, Networking, and Services Y1 - 2012 A1 - Bruneau, Julien A1 - Consel, Charles A1 - O'Malley, Marcia A1 - Taha, Walid A1 - Hannourah, Wail Masry ED - Sénac, Patrick ED - Ott, Max ED - Seneviratne, Aruna AB -

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.

JF - Mobile and Ubiquitous Systems: Computing, Networking, and Services PB - Springer Berlin Heidelberg CY - Berlin, Heidelberg SN - 978-3-642-29154-8 ER - TY - Generic T1 - Comparison of Reaching Kinematics During Mirror and Parallel Robot Assisted Movements T2 - MMVR18 Y1 - 2011 A1 - Zahra KADIVAR A1 - Cynthia SUNG A1 - Zachary THOMPSON A1 - Marcia O’MALLEY A1 - Michael LIEBSCHNER A1 - Deng, Zhigang JF - MMVR18 CY - Newport Beach, CA ER - TY - Generic T1 - A Fully Automated System for the Preparation of Samples for Cryo-Electron Microscopy T2 - ASME 2010 Dynamic Systems and Control Conference Y1 - 2010 A1 - Thompson, Zachary J A1 - Johnson, Kevin L A1 - Overby, Nicolas A1 - Chidi, Jessica I A1 - Pryor, William K A1 - O’Malley, Marcia K JF - ASME 2010 Dynamic Systems and Control Conference PB - American Society of Mechanical Engineers ER - TY - Generic T1 - Mathematical Equations as Executable Models of Mechanical Systems Y1 - 2010 A1 - Angela Yun Zhu A1 - Edwin Westbrook A1 - Jun Inoue A1 - Alexandre Chapoutot A1 - Cherif Salama A1 - Marisa Peralta A1 - Travis Martin A1 - Walid Taha A1 - Robert Cartwright A1 - O'Malley, M.K. AB -

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.

ER - TY - Generic T1 - Implementing Haptic Feedback Environments from High-level Descriptions Y1 - 2009 A1 - Angela Yun Zhu A1 - Jun Inoue A1 - Marisa Peralta A1 - Walid Taha A1 - O'Malley, M.K. A1 - Powell, Dane ER -