Dale A. Lawrence

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ASpace applications of telerobots are characterized by significant communication delays between operator commands and resulting robot actions at a remote site. A high degree of telepresence is also desired to enable operators to safely conduct teleoperation tasks. This paper provides tools for quantifying teleoperation system performance and stability when(More)
Specific rendering modes are developed for a combined visual/haptic interface to allow exploration and understanding of fluid dynamics data. The focus is on visualization of shock surfaces and vortex cores. Advantages provided by augmenting traditional graphical rendering modes with haptic rendering modes are discussed. Particular emphasis is placed on(More)
Single-track hard disk drive (HDD) seek performance is measured by settle time, ts. In this paper, we show the effective use of feedforward dynamic inversion, coupled with reference trajectory yd generation, to achieve high performance ts. Models of HDD dynamics are typically nonminimum phase (NMP), and it is well known that the exact tracking solution for(More)
The ability of 1-year-old infants to remember the location of a nonvisible target was investigated in 3 experiments. Infants searched for a toy hidden in one of many possible locations within a circular bounded space. The presence, number, and spatial arrangement of local cues or "landmarks" within this space were varied. The results of Experiment 1 showed(More)
Friction cancellation and high gain force feedback are studied for their relative benefits in mitigating the effects of friction in haptic interfaces. Although either technique alone is capable of significant improvements, we find that a combination of approximate cancellation coupled with variable-gain low-bandwidth force feedback provides excellent(More)