In automatic flight control system or autopilots, multiple specifications criteria are needed to be satisfied concurrently, such as good holding (small static altitude holding error), fast response, smooth transition (less oscillation, overshoot). So how to design the MSS (Multiple Simultaneous Specification) controller effectively and practically is a very significant and challenging job. Liu ...

We propose a method for dual-arm manipulation of rigid objects, subject to external disturbance. The problem is formulated as a Cartesian impedance controller within a projected inverse dynamics framework. We use the constrained component of the controller to enforce contact and the unconstrained controller to accomplish the task with a desired 6DOF impedance behaviour. Furthermore, the propose...

This study compares a traditional 3D WIMP (Window Icon Menu Pointer) modeller to a prototype of a novel system with a 6DOF haptic feedback device, stereovision and a co-located display, both in quantitative and qualitative terms. The novel system was conceived to overcome limitations of traditional interaction techniques and devices when dealing with three-dimensions. Experimental results confi...

A framework for virtual reality based training of puncture interventions is presented. The system uses a haptic device with six degrees of freedom (6DOF) to enable realistic force sensations during needle insertions into virtual patients. A manifold of different visualization techniques gives new insights into the anatomy of the punctured region. The 3D effect is enhanced by stereoscopic visual...

Many haptic rendering problems can be expressed in terms of constraints on the motion of a proxy within a virtual environment. This principle is well established for surface rendering, and can also be applied to other types of haptic interaction. A key problem in general constraint based rendering is combining constraints from several sources into a single unified constraint. This paper describ...

This paper presents a new discretization method for the computation of the orientation workspace of 6DOF parallel manipulators, de®ned as the set of all attainable orientations of the mobile platform about a ®xed point. The method is based on the use of a modi®ed set of Euler angles and a particular representation of the orientation workspace. In addition, the projected orientation workspace is...

Under-actuated 6/3-DOF haptic devices are mostly used for simple 3-DOF point-based haptic interaction because of missing torque feedback. In this work, we present a system involving sensory substitution and pseudo-haptic feedback that effectively simulate torque feedback using visuo-tactile cues. The proposed system was implemented into a 6DOF haptic rendering algorithm and tested on an under-a...

We present a technique whereby a single camera can be used as a high precision visual odometry sensor in a range of practical settings using simple, computationally efficient techniques. Taking advantage of the local planarity of common floor surfaces, we use real-time dense alignment of a 30Hz video stream as the camera looks down from a fast-moving robot, making use of the whole texture avail...

Virtual environments require interaction devices that are intuitive and ergonomic, yet capable of many input parameters. Many devices satisfying these requirements can be expensive, difficult to manipulate, and often require the integration of large software libraries with existing applications. We present a device addressing these needs while avoiding the associated downfalls. The IStick is in...

This paper will present the latest research endeavors into decentralised data fusion and control when using multiple uninhabited air vehicles. The paper will focus on the development of Decentralised Picture Compilation and Decentralised SLAM algorithms when applied to a 6DoF platform. The issues associated in the development of the algorithms and the conclusions drawn from such an endeavor wil...