In order to prevent misunderstandings within groups of interacting agents, it is necessary to ensure that the agents’ beliefs regarding the overall state of the interaction are consistent with each other at all times. In [7], Paurobally et al. proposed that these beliefs could be synchronized by adding a specialized protocol layer that incorporates protocols specifically designed to synchronize...

In this paper, we will discuss two main concepts, associated with the development of Virtual Worlds, which are “Presence” and “Embodiment”. Presence is stamped as the sense of “Being there”, that has to be reconstructed in Local world to render Distant Worlds accessible by networked or mediated communications. “Embodiment” could be the property of a Virtual entity to be incorporated by human as...

Besides supporting bilateral transactions, enterprise interoperability can also be applied to coordinate operational processes of stakeholders. With today’s technology, each of these stakeholders can be equipped with actuators like applications on smart devices. Where applications support interaction of a user with its environment, smart devices can operate as sensors and allow user interaction...

Sliding mode control has been used extensively in robotics to cope with parameters uncertainty, model perturbations and system disturbance. Bilateral robotic teleoperators are often required to provide a haptic interaction in telerobotic applications in which human kinesthetic sense is stimulated locally by remote environment. The paper deals with bilateral control for a force-reflection master...

Among the prevalent methods in linear bilateral teleoperation systems with communication channel time delays is to employ position and velocity signals in the control scheme. Utilizing force signals in such controllers significantly improves performance and reduces tracking error. However, measuring force signals in such cases, is one of the major difficulties. In this paper, a control scheme w...

This presentation describes a set of techniques for implementing a fast and stable dynamics simulator for articulated characters using an analytical constraint approach combined with Featherstone’s linear-time forward dynamics algorithm. It presents an efficient method for enforcing multiple simultaneous constraints on an articulated character in order to control the character’s motion and mode...

In the presence of communication latency in a bilaterally controlled teleoperation system, stability and transparency are severely affected. In this paper, based on a passivity framework, admittance-type and hybrid-type delay-compensated communication channels, which warrant different bilateral control architectures, are introduced. Wave transforms and signal filtering are used to make the dela...

Bilateral Teleoperation is a key technology to allow humans to interact with remote environments by providing the operator with haptic feedback. Haptic feedback from the one hand improves human perception and therefore the quality of the human-robot interaction, on the other hand it can tamper with the stability of the system when the communication between the master side (where the operator is...

hip fractures are one of the most common injuries which present to an orthopaedic surgeon. most of these cases are unilateral .bilateral simultaneous femur neck fracture is a rare occurrence. we report a case of a bilateral neck femur fracture in a 30 year male following a generalized tonic clonic seizure in view of its rarity and also to increase the awareness of such rare injuries. the patien...