Sage is a robot that has been installed at the Carnegie Museum of Natural History as a full-time autonomous member of the staff. Its goal is to provide educational content to museum visitors in order to augment their museum experience. This paper discusses all aspects of the related research and development. The functional obstacle avoidance system, which departs from the conventional occupancy grid-based approaches, is described. Sage's topological navigation system, using only color vision and odometric information, is also described. Long-term statistics provide a quantitative measure of performance over a nine month trial period. The process by which Sage's educational content and personality were created and evaluated in collaboration with the museum's Divisions of Education and Exhibits is explained. Finally, the ability of Sage to conduct automatic long-term parameter adjustment is presented.

Remote driving is a difficult task. Not only do operators have problems perceiving and evaluating the remote environment, but they frequently make incorrect or sub-optimal control decisions. Thus, there is a need to develop alternative approaches which make remote driving easier and more productive. To address this need, we have developed three novel user interfaces: GestureDriver, HapticDriver and PdaDriver. In this paper, we present the motivation for and design of each interface. We also discuss research issues related to the use of gesture, haptics, and palm-size computers for remote driving. Finally, we describe lessons learned, potential applications and planned extensions for each interface.

We have developed a system that uses computer vision to replace standard computer mouse functions with hand gestures. The system is designed to enable noncontact human-computer interaction (HCI), so that surgeons will be able to make more effective use of computers during surgery. In this paper, we begin by discussing the need for non-contact computer interfaces in the operating room. We then describe the design of our non-contact mouse system, focusing on the techniques used for hand detection, tracking, and gesture recognition. Finally, we present preliminary results from testing and planned future work.

No abstract

A nanoscale manipulation system has been designed and built through the integration of a force–feedback haptic device and a commercial atomic force microscope. The force–feedback interaction provides a very intuitive, efficient and reliable way for quick manipulation of nanoscale objects. Unlike other nanomanipulators, ours allows the user to feel the actual tip–sample interaction during the manipulation process. Various modes of manipulation have been implemented and evaluated. As a proof of concept, we show a contact-mode nanomanipulation of a carbon nanotube and a noncontact manipulation of silicon beads. In addition to nanomanipulation itself, all relevant signals can be recorded during the manipulation process which allows quantitative interpretation of nanomechanics experiments.