From breger@apo.mech.northwestern.edu Thu Jul 18 08:52 CDT 1996 Received: from relay.acns.northwestern.edu by apo.mech.northwestern.edu with ESMTP (1.37.109.18/16.2) id AA044397926; Thu, 18 Jul 1996 08:52:06 -0500 Return-Path: Received: by relay.acns.northwestern.edu (1.37.109.18/20.4) id AA281008094; Thu, 18 Jul 1996 08:54:54 -0500 Received: from apo.mech.northwestern.edu by relay.acns.northwestern.edu with ESMTP (1.37.109.18/20.4) id AA280938093; Thu, 18 Jul 1996 08:54:53 -0500 Message-Id: <199607181354.AA280938093@relay.acns.northwestern.edu> Received: by apo.mech.northwestern.edu (1.37.109.18/16.2) id AA044347923; Thu, 18 Jul 1996 08:52:03 -0500 X-Ph: V3.12@relay From: Bernard D Reger Subject: Removed the > and headers To: mb@northwestern.edu (Mike Brown), breger@northwestern.edu (Bernie Reger) Date: Thu, 18 Jul 1996 08:52:03 -0500 (CDT) Reply-To: breger@northwestern.edu (Bernie Reger) X-Mailer: ELM [version 2.4 PL24] Mime-Version: 1.0 Content-Type: text/plain; charset=US-ASCII Content-Transfer-Encoding: 7bit Content-Length: 31355 Status: RO Teleoperation Teleoperation is the remote control of robot manipulators. Although commands can be sent from user to remote robot at different levels of abstraction, this section describe a kind of low-level teleoperation in which the human directly controls the motions and contact forces of the remote manipulator in real time. Perhaps the most common application of this technique is in construction equipment such as excavators in which the operator controls the velocity of the joints of the "robot" to accomplish the task. However construction equipment does not provide force feedback directly to the hand. When the user is located farther from the remote robot, considerable engineering effort must be applied to reproduce the sensory feedback information which allows accurate and efficient control.

Both teleoperation and virtual environments require this rich and self-consistent sensory feedback. Haptic feedback devices were pioneered in teleoperation systems as far back as the 1940's. In both teleoperation and virtual environment applications of haptics, a loop is closed between the human operator's motion "inputs" and forces applied by the haptic device. In teleoperation this loop is closed via a communication link, robot manipulator, and the environment. In virtual environments, the loop is closed via a computer simulation.

Key issues for the advancement of teleoperation technology include:

If you would like this list formatted differently, please let me know. These are taken from the database in my lab's 'Quantitative Evaluation of Perspective and Stereoscopic Displays in Three Axis Manual Tracking Tasks,' IEEE Trans. Systems Man & Cybernetics, vol. SMC-17, pp. 61-72, 1987.

Abstract

Optimal presentation of three-dimensional information on a two-dimensional display screen requires careful design of the projection to the display surface. Monoscopic perspective projection alone is usually not sufficient to represent three-dimensional spatial information. It can, however, be improved by the adjustment of perspective parameters and by geometric visual enhancements such as reference lines and a background grid. Stereoscopic display is another method of providing three-dimensional information to the human operator. Two experiments are performed with three-axis manual tracking tasks. The first experiment investigates the effects of perspective parameters on tracking performance. The second experiment investigates the effects of visual enhancements for both monoscopic and stereoscopic displays. Results indicate that, though stereoscopic displays do generally permit superior tracking performance, monoscopic displays can allow equivalent performance when they are defined with optimal perspective parameters and provided with adequate visual enhancements.

[023]
L. Stark, W.S. Kim, F. Tendick, B. Hannaford, S. Ellis, et al., 'Telerobotics; Display, Control, and Communication Problems,' IEEE Journal of Robotics and Automation, vol. RA-3, pp. 67-74, 1987.

Abstract

An experimental telerobotics (TR) simulation is described suitable for studying human operator (HO) performance. Simple manipulator pick-and-place and tracking tasks allowed quantitative comparison of a number of calligraphic display viewing conditions. An enhanced perspective display was effective with a reference line from target to base, with or without a complex three- dimensional grid framing the view. This was true especially if geometrical display parameters such as as azimuth (AZ) and elevation (EL) were arranged to be near optimal. Quantitative comparisons were made possible utilizing control performance measures such as root mean square error (rmse). There was a distinct preference for controlling the manipulator in end-effector Cartesian space for our primitive pick-and-place task, rather than controlling joint angles and then, via direct kinematics, the end-effector position. An introduced communication delay was found to produce decrease in performance. In considerable part, this difficulty could be compensated for by preview control information. That neurological control of normal human movement contains a sampled data period of 0.2 s may relate to this robustness of HO control to delay.

[031]
B. Hannaford, 'A Design Framework for Teleoperators with Kinesthetic Feedback,' IEEE Transactions on Robotics and Automation, vol. 5, pp. 426-434, 1989.

Abstract

A teleoperator is a pair of robot manipulators connected in such a way as to allow an operator handling one manipulator (the master) to operate on a remote environment (via the slave). Feedback from slave to master increases the realism with which the operator interacts with the environment. Two-port models have been extensively used for the analysis of circuits in which bidirectional energy flows are present at two distinct pairs of terminals. This paper applies the hybrid two-port model to teleoperators with force and velocity sensing at the master and slave. The interfaces between human operator and master, and between environment and slave, are ports through which the teleoperator is designed to exchange energy between the operator and environment. By computing or measuring input-output properties of this two-port network, the hybrid two-port model of an actual or simulated teleoperator system can be obtained. It is shown that the hybrid model (as opposed to other two-port forms) leads to an intuitive representation of ideal teleoperator performance and applies to several teleoperator architectures. Thus measured values of the "h" matrix or values computed from simulation can be used to compare performance with the ideal. The frequency-dependent "h" matrix is computed from a detailed SPICE model of an actual system, and the method is applied to a proposed new architecture.

[040]
B. Hannaford, L. Wood, 'Performance Evaluation of a 6 Axis High Fidelity Generalized Force Reflecting Teleoperator,' Proceedings JPL/NASA Conference on Space Telerobotics, JPL Publication 89-7, Pasadena, CA, January 1989.

Abstract

Sorry, This Abstract Not Yet Online

[042]
B. Hannaford, P. Lee, 'Hidden Markov Model Analysis of Force/Torque Information in Telemanipulation,' Proceedings 1st International Symposium on Experimental Robotics, Montreal, June 1989.

Abstract

Sorry, This Abstract Not Yet Online

[058]
B. Hannaford, P. Lee, 'Multi-Dimensional Hidden Markov Model of Telemanipulation Tasks with Varying Outcomes,' Proceedings IEEE Intl. Conf. Systems Man and Cybernetics, Los Angeles, CA, Nov. 1990.

Abstract

Three multi-step teleoperation tasks were successfully modeled with a Hidden Markov Model (HMM). The model was then used to correctly identify the sequence of task progression from the recorded sensor data. Previous work with HMMs was extended by the generalization of the model to encompass multidimensional sensor signals consisting of a mix of force, torque, and position signals. The addition of multi-dimensional sensor information significantly improved the ability of the Viterbi decoding algorithm to identify the series of events.

[059]
P. Lee, A. Bejczy, P. Schenker, B. Hannaford, 'Telerobot Configuration Editor,' Proceedings IEEE Intl. Conf. Systems Man and Cybernetics, Los Angeles, CA, Nov. 1990.

Abstract

Telerobot Configuration Editor (TCE) is an iconic graphical user interface based on X Windows environment. TCE offers an easy way to configure a complex telerobotic system, which requires numerous parameter settings to access the full capabilities of the system. The screen layout design of TCE is done by utilizing various visual coding mechanisms, such as color and brightness, to make the hierarchical structure of the TCE visible to the user. Two key features, the macro configuration buttons and the system access levels, have been incorporated into TCE design. The macro configuration buttons can store the full or a partial set of configuration parameters, and these macros can be used as high level configuration parameters that are well suited to the physicaltasks such as peg insertion task. The system access levels limit the user access to the system, based on their ability and their need. These two features allow TCE to be a flexible and effective interface suited to be used by any userthat needs to configure a telerobotic system.

[051]
B. Hannaford, L. Wood, D. McAffee, H. Zak, 'Performance Evaluation of a Six Axis Generalized Force Reflecting Teleoperator,' IEEE Transactions on Systems, Man, and Cybernetics, vol. 21, pp. 620-633, 1991.

Abstract

Recent work in real-time distributed computation and control has culminated in a prototype force-reflecting telemanipulation system having dissimilar master (cable-driven force-reflecting hand controller) and slave (PUMA 560 robot with customer controller), extremely high sampling rate (1000 Hz) and low loop computation delay (5 ms). In a series of experiments with this system and five trained test operators covering more than 100 h of teleoperation, performance in a series of generic and application-driven tasks with and without force feedback was measured, and with control shared between teleoperation and local sensor referenced control. Measurements defining task performance include 100-Hz recording of six-axis force-torque information, task completion time, and visual observation of predefined task errors. The tasks consisted of high precision peg- i developed for prediction and analysis of sensor information recorded during robotic performance of tasks by telemanipulation. The model uses the Hidden Markov Model (stochastic functions of Markov nets: HMM) to describe the task structure, the operator or intelligent controller's goal structure, and the sensor signals such as forces and torques arising from interaction with the environment. The Markov process portion encodes the task sequence/subgoal structure, and the observation densities associated with each subgoal state encode the expected sensor signals associated with carrying out that subgoal. Methodology is described for construction of the model parameters based on engineering knowledge of the task. The Viterbi algorithm is used for model based analysis of force signals measured during experimental teleoperation and achieves excellent segmentation of the data into subgoal phases. The Baum-Welch algorithm is used to identify the most likely HMM from a given experiment. The HMM achieves a structured knowledge-based model with explicit uncertainties and mature, optimal identification algorithms.

[055]
W.S. Kim, B. Hannaford, A.K. Bejczy, 'Force-Reflection and Shared Compliant Control in Operating Telemanipulators with Time Delay,' IEEE Transactions on Robotics & Automation, vol. 8, pp. 176-185, 1992.

Abstract

Shared compliant control has been incorporated into an advamced six-degree-of- freedom (6-DOF) force-reflecting telemanipulation system. With this system we have investigated the effect of time delay on human telemanipulation task performance. Time delays of between 2 and 4096 ms were introduced between master and slave arms, and high-precision peg-in-hole tasks were performed by six test operators with two modes of control: kinesthetic force feedback (KFF), and shared compliant control (SCC). Task performance was quantified in terms of the completion time (CT) and the sum of square forces (SOSF). In KFF, the operator feels forces and torques proportional to those sensed by the telerobot through the force-reflecting hand controller. Due to the instability problem, force reflection cannot be used at time delays above 0.5 to 1 s. By contrast, the force feedback loop in SCC resides entirely in the robot side, and the communication delay does not cause any stability problem. SCC enables the operator to control the telemanipulator having a compliant hand, which softens contact forces between the robot hand and objects. The experimental results demonstrate the superiority of SCC over KFF for time-delays telemanipulation. SCC has significantly lower rates of increase then KFF in both CT and SOSF with time delay. Only SCC enabled task performance at delays above 1 s, indicating that SCC is a promising and essential scheme for time-delayed manipulation. Constant force maintenance tasks were also performed to investigate the effect of time delay on the stability of force reflection. SCC also has beneficial effects on telemanipulation without time delay.

[072]
C.A. Lawn, B. Hannaford, 'Performance Testing of Passive Communication and Control in Teleoperation with Time Delay,' Proc. IEEE Intl. Conf. on Robotics and Automation, vol. 3, pp. 776-781, Atlanta, GA, May, 1993.

Abstract

Advanced application of remote manipulation or teleoperation will require kinesthetic feedback of force and torque information from slave robot to master hand controller. In outer space and terrestrial remote control, there is unavoidable time delay between master and slave. This study evaluates the performance of several candidate control laws for a single-axis testbed telemanipulation system in the presence of up to 1 second of time delay. Algorithms tested include communication laws based on passivity theory. Results indicated that task completion time was as much as 50% greater with the passivity based methods.

[081]
P. Buttolo, P. Braathen, B. Hannaford, 'Sliding Control of Force Reflecting Teleoperation: Preliminary Studies,' PRESENCE, vol. 3, pp. 158-172, 1994.

Abstract

In this paper, sliding mode non-linear control is applied to force reflecting teleoperation. Various forms of the sliding mode control law are derived for force feedback master manipulator with an arbitrary factor for force and position scaling. Experiments were performed on a one axis test system and frequency domain hybrid 2-port matrices are measured and compared between the sliding mode controller and a classical position error based feedback controller. Time domain experiments are also performed. The model based portion of the sliding mode controller was shown to be responsible for most of its performance improvement, but the non-linear `sliding' component was essential for steady state position accuracy.

[085]
D.Y. Hwang, B. Hannaford, 'Modeling and Stability analysis of a Scaled Telemanipulation,' Proceedings RO-MAN 94, Nagoya, July, 1994.

Abstract

When the scaled teleoperation is used, the stability issue becomes important due to the high gains in position or force scaling. We used two experimental methods to identify the stable region of position and force scaling factors of a one-axis system having 4000:1 force scaling capability. We used a simple classical teleoperation control law. An indirect closed loop approach with ARX technique was used to model the non-linear slave system with a flexible printed circuit cable.

[076]
P. Buttolo, D.Y. Hwang, B. Hannaford, 'Hard Disk Actuators for Mini-Teleoperation,' Proc. SPIE Telemanipulator and Telepresence Technologies Symposium, pp. 55-61, Boston, October 31, 1994.

Abstract

Hard disk drives have evolved rapidly with computer miniaturization into highly compact and integrated electromechanical systems. Hard drives contain many precision mechanical parts which may prove useful in the design of small precision robots. The advantages of parts taken from hard disks include low cost, miniaturization, high quality, and for some applications, cleanliness. We report the results of engineering tests on flat coil head positioning actuators taken from hard drives of sizes ranging from a 5.25" to 1.8" media diameter. We also perform a simple analysis which suggests that requirements for torque per unit mass are lower for small robot arms. The results suggest ways that hard disk actuators can be utilized in mini robotic designs and points the way towards improved versions of these designs for robotic purposes.

[088]
B. Hannaford, S. Venema, A.K. Bejczy, 'MICROTREX: Micro-Telerobotic Flight Experiment,' Proceedings AIAA Space Programs and Technologies Conference; AIAA 94-4509, Huntsville, Al, September, 1994.

Abstract

The MICROTREX (Micro Telerobotic Experiment) project proposes to use a small flight telerobot in low earth orbit to perform ground-controlled telerobotics experiments. These experiments will evaluate the effectiveness of ground-based control of an orbital telerobot in the presence of variable communications time-delay using a variety of control techniques including closed-loop force feedback position control. The small, lightweight flight system consisting of a micro-scale (50-cm3 work-volume) direct-drive six degree of freedom manipulator, an experiment task board, and computer control and communications hardware will be used to minimize flight mass/power requirements. The project is currently in "Phase A" status in the NASA In Space Technology Experiments Program (INSTEP).

[089]
P. Buttolo, B. Hannaford, 'Pen Based Force Display for Precision Manipulation of Virtual Environments,' Proceedings VRAIS-95, pp. 217-225, Raleigh, NC, March 1995.

Abstract

In this paper we describe the structure of a force display recently implemented for precision manipulation of scaled or virtual environments. We discuss the advantages of direct-drive parallel manipulators over geared serial manipulators for human-robot interaction application and introduce the serial-parallel structure we chose for our robot which interfaces with the human operator either at the fingertip or at the tip of a freely held pen-like instrument. We derive the statics and the dynamics, and then introduce the optimization criteria that allowed us to choose the dimensional parameters for the force display. Finally we show some of the potential application for this device that will be the subject of following papers.

[098]
P. Buttolo, B. Hannaford, 'Advantages of Actuation Redundancy for the Design of Haptic Displays,' Proceedings, ASME Fourth Annual Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, vol. DSC-57-2, pp. 623-630, San Francisco, Nov. 1995.

Abstract

In this paper we will describe a direct-drive, actuation redundant, parallel manipulator, characterized by very low inertia, no backlash, and almost zero friction. We will then describe the problems and advantages of actuation redundancy and we will introduce a computationally-efficient algorithm that maximizes the force capability of the device. Actuation redundancy is different from kinematic redundancy because it concerns only the determination of forces and moments. A drawback of the parallel redundant structure is the high computational requirement. On the other hand, the possibility to choose the torque adopting a proper set of criteria permits satisfaction of a desired set of requirements for haptic devices, such as maximize the force output and achieve a homogenous force output in the workspace.

[100]
P. Buttolo, J. Hewitt, R. Oboe, B. Hannaford, 'Force Feedback in Virtual and Shared Environments,' Proceedings, IEEE Intl. conf. on System, Man and Cybernetics, Vancouver BC, October 1995.

Abstract

We will present a demonstration allowing people to touch virtual objects and perform elementary manipulations, with visual and haptic feedback. The virtual environment consists of collision detection and dynamics software modules, a simple graphics representation, plus the kinematics and dynamics interface necessary to drive the force display. We will also present a force-feedback virtual squash, with two or more players located in Seattle and Padova (Italy). The game is an example of how to implement force feedback in a shared environment. The reproduction of a faithful and stable force signal to the operator requires the computation of forces with low latency and high. [POSTER].

[096]
P. Buttolo, D. Kung, B. Hannaford, 'Manipulation in Real, Virtual, and Remote Environments,' Proceedings, IEEE International Conference on Systems, Man, and Cybernetics, Vancouver, BC, October, 1995.

Abstract

In this paper we describe a novel experimental procedure for the evaluation of a telemanipulator performance. A group of subjects performed the same set of tasks directly on a physical setup, on a virtual implementation capable of providing visual and force feedback through an haptic display, and remotely on the real setup using a telemanipulation system. Using this experimental procedure we were able to decouple the effects on the overall telemanipulator performance introduced by the single components of the system, master manipulator, display, slave manipulator and bilateral controller.

[097]
B. Hannaford, A.K. Bejczy, P. Buttolo, M. Moreyra, S. Venema, 'Mini-Teleoperation Technology for Space Research,' and Robots (MIMR-95), pp. 524-527, Sendai, Japan, September, 1995.

Abstract

A small direct drive serial manipulator has been developed for applications in sample handling for scientific payloads in space. The manipulator is about 15 cm in length, and has 5-10 microns positioning precision. The prototype forms the basis for design of the MicroTrex flight experiment for NASA. The experiment will measure performance of the robot in low earth orbit under control from a ground station. This paper describes the design of the manipulator, some experimental results of the manipulator performance, and plans for space flight testing.

[101]
P. Buttolo, R. Oboe, B. Hannaford, W. McNeely, 'Force Feedback in Shared Virtual Simulations,' Proceedings MICAD, Paris, 1996.

Abstract

Virtual reality is a powerful tool for training, simulation and computer aided design. Replacing the traditional mouse with a force feedback device might enhance the performance of such systems, permitting a more natural interaction. The software interface and the mechanical design of force-feedback devices is critical. The operative system must be real time and guarantee low latency and high sampling rate. Additional constraints are introduced if there is a need for sharing the simulation among multiple players. In this paper we will present two haptic devices, and a distributed architecture that allows operators to manipulate objects in a shared virtual environment. We will conclude with two examples, a multi-player squash game and a shared force-feedback CAD system for airplane manufacturing.

[093]
B. Hannaford, P.H. Marbot, P. Buttolo, M. Moreyra, S. Venema, 'Scaling Properties of Direct Drive Serial Arms,' In Press: International Journal of Robotics Research, vol. 15, 1996.

Abstract

This paper studies the ways that the performance of direct drive serial robots changes as system size is changed. We are particularly interested in the physical laws for scaling down direct drive arms to small sizes. Using theoretical scaling analysis, we show that there is a net physical performance advantage to small direct drive arms. A key factor for direct drive robot performance is the torque to mass ratio of the actuators, U. We show how U varies with the scale of DD actuators, and we also calculate how the dynamic performance varies with scale. We compare our calculations with experimental measurements of actuators of various sizes taken from small hard disk drives and compare them with published data for larger motors. Finally, we describe a prototype, 5-axis, direct drive, serial arm having a reach of 10cm and a workvolume of about 136cm3. Some potential applications are briefly discussed.

[T003]
D.Y. Hwang, B. Hannaford, 'Teleoperation Performance with a Kinematically Redundant Slave Robot,' Submitted to International Journal of Robotics Research, Jan. 1996.

Abstract

This paper studies the effects of three methods of kinematic redundancy resolution on teleoperation performance with a redundant slave robot in telemanipulation. First, we derived three kinematic redundancy control modes expressing different trade-offs between kinetic energy level, joint usage, and joint limit avoiding. To validate our algorithms we performed simulations, autonomous robot tests, and teleoperation experiments. The trade-off between kinetic energy level and joint limit index was clearly shown in the autonomous test. For teleoperation, 4 tasks and 7 indices were defined. A 3 dof pen-based master and 5 dof mini-direct-drive robot were used with position to position control in Cartesian space. Tasks were x, y, and z positioning and contact force control giving 2 dof kinematic redundancy in the slave robot. Overall, the inertia-weighted pseudo-inverse, proposed by Whitney in 1969, showed best performance, while the least square mode (using no inertial information) showed the worst performance.

[Th016]
P. Buttolo, 'Characterization of Human Pen Grasp with Haptic Displays,' Ph.D. Dissertation, University of Washington, Department of Electrical Engineering, June 1996.

Abstract

Throughout this thesis we have, theoretically and experimentally, analyzed various properties of pen grasp interaction. We showed that to experimentally measure the mechanical impedance of the human hand we need a haptic device with specific characteristics, such as low inertia, almost zero friction and very high stiffness. Part of the research activity was devoted into designing a haptic device that would satisfy these stringent requirements. Using a theoretical model and experimental data we found that pen grasp manipulation is superior to single finger manipulation, both in terms of mechanical impedance and accuracy of motion control. Moreover, because of its parallel structure, the pen grasp stiffness ellipse is not very sensitive to changes in the kinematic configuration.

The haptic display can be tuned to a specific user and task introducing an additional term in the device controller. The stiffness and damping ellipses can be enlarged, rotated, and their shape altered, so that better rejection to disturbance while executing precise motion control can be achieved. However we discovered that the potential benefits are limited by the natural performance of the device itself, since simulating dynamic elements, such as springs and dampers, introduces noise into the system. Our analysis was just a preliminary test and much more remains to be done.

We analyzed four different types of grasp, with particular attention to four-fingered grasps, and found similar stiffness ellipses for all of them. Some of these grasps were chosen observing different people interacting with a pen, others by trying different configuration on a custom computer animated model.

From colgate@northwestern.edu Thu Jul 18 11:01 CDT 1996 Received: from casbah.acns.northwestern.edu by apo.mech.northwestern.edu with ESMTP (1.37.109.18/16.2) id AA048965710; Thu, 18 Jul 1996 11:01:50 -0500 Return-Path: Received: from voltaire.mech.northwestern.edu by casbah.acns.northwestern.edu with SMTP (1.40.112.4/20.4) id AA107105716; Thu, 18 Jul 1996 11:01:56 -0500 Received: from colgate.mech.northwestern.edu by voltaire.mech.northwestern.edu via SMTP (931110.SGI/940406.SGI.AUTO) for mbrown@casbah.acns.northwestern.edu id AA14011; Thu, 18 Jul 96 11:02:52 -0500 X-Sender: ecolgate@voltaire.mech.northwestern.edu Message-Id: Mime-Version: 1.0 Content-Type: text/plain; charset="us-ascii" Date: Thu, 18 Jul 1996 11:04:29 -0500 To: mbrown@casbah.acns.northwestern.edu, breger@northwestern.edu From: colgate@northwestern.edu (Ed Colgate) Subject: Re: thanks! Status: RO what do you guys think... our own electronic journal??? >From: Blake Hannaford >Date: Thu, 18 Jul 1996 08:54:06 -0700 (PDT) >To: colgate@northwestern.edu >Subject: Re: thanks! >X-Sun-Charset: US-ASCII > > > >| From colgate@northwestern.edu Thu Jul 18 06:34 PDT 1996 > >| X-Sender: ecolgate@voltaire.mech.northwestern.edu > >| Mime-Version: 1.0 > >| To: Blake Hannaford > >| From: colgate@northwestern.edu (Ed Colgate) > >| Subject: thanks! > >| Content-Type: text/plain; charset="us-ascii" > >| > >| Blake, > >| > >| Thanks for the quick service! The teleoperation write-up is just right, > >| and the links are much appreciated. We'll get these things in place right > >| away. > >| > >| -Ed > >| > > > >| PS I spent some time browsing your web site -- it's really very well >done. > >| > >| > >Thanks Ed. What I did was set aside a week in January where the whole >lab made WWW site updating our top priority. Then we did it again >to finish off a few rough spots in June. Caution: WWW designers >command top dollar outside. I lost a great grad student for the >summer who can pull down $20 / hr doing commercial WWW design. > >I think the Haptics site is a great idea. I would like to see it >evolve into an electronic refereed journal. I would like to see a >special section of the site for reviewed papers. An editorial panel >would obtain reviews just as with a refereed journal, but there would >be no IEEE, no printing costs (more correctly, printing costs would be >born by the readers), etc. etc. etc. The goal would be a delay of >say one month between submittal and "publication". > >This would not be good for resume building (at first), but it would >get high quality information out there fast. > >Blake > > From peshkin@northwestern.edu Thu Jul 18 11:33 CDT 1996 Received: from relay.acns.northwestern.edu by apo.mech.northwestern.edu with ESMTP (1.37.109.18/16.2) id AA051687609; Thu, 18 Jul 1996 11:33:30 -0500 Return-Path: Received: by relay.acns.northwestern.edu (1.37.109.18/20.4) id AA294077777; Thu, 18 Jul 1996 11:36:17 -0500 From: peshkin@northwestern.edu Received: from voltaire.mech.northwestern.edu by relay.acns.northwestern.edu with SMTP (1.37.109.18/20.4) id AA293997776; Thu, 18 Jul 1996 11:36:16 -0500 Received: from peshkin.mech.northwestern.edu by voltaire.mech.northwestern.edu via SMTP (931110.SGI/940406.SGI.AUTO) for colgate@northwestern.edu id AA14195; Thu, 18 Jul 96 11:34:30 -0500 X-Sender: peshkin@voltaire.mech.northwestern.edu Message-Id: Mime-Version: 1.0 Content-Type: text/plain; charset="us-ascii" Date: Thu, 18 Jul 1996 11:34:45 -0500 X-Ph: V3.12@relay To: Frank Thomas Fisher Subject: Re: cherub tour Cc: mb@northwestern.edu, colgate@northwestern.edu Status: RO Mike, can we show them a haptic game or two? That's probably the best demo available. Michael >Dr. Peshkin, > >I just wanted to confirm the Cherub tour that is scheduled for your >robotics lab on Tuesday July 23 from 2:20 to about 2:50. There will be >15 students participating in the tour. I have a few questions... > >1. Where should I bring the students? > >2. Are there any topics that I can cover prior to the tour so that the >students will understand what they are seeing better? > >3. Is there anything that I can do to help? > >Please let me know if you have any questions. Thank you for >participating in this program. > >Frank Fisher