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Eye-gaze as a form of human machine interface holds great promise for improving the way we interact with machines. Eye-gaze tracking devices that are non-contact, non-restrictive, accurate and easy to use will increase the appeal for including eye-gaze information in future applications. The system we have developed and which we describe in this paper(More)
This paper presents a summary of the design and implementation of a force-reflecting controller for conventional heavy duty hydraulic machines. The unsuitability of direct force feedback with rate control has been shown analytically and confirmed on a simulator of a typical hydraulic machine. A novel stiffness control scheme was developed to circumvent this(More)
— This article describes a vision-based system for 3D localization of a mobile robot in a natural environment. The system includes a mountable head with three on-board CCD cameras that can be installed on the robot. The main emphasis of this work is on the ability to estimate the motion of the robot independently from any prior scene knowledge, landmark or(More)
—Analysis and estimation of friction and compensation for its effects in the control of an electrohydraulic manipulator is addressed in this paper. The specific hydraulic manipulator is an integral part of an automated fish processing machine which has been developed in our laboratory. The analysis reveals that considerable static and dynamic friction(More)
A novel approach is presented for using an eye tracker-based reference instead of EOG for methods that require an EOG reference to remove ocular artifacts (OA) from EEG. It uses a high-speed eye tracker and a new online algorithm for extracting the time course of a blink from eye tracker images to remove both eye movement and blink artifacts. It eliminates(More)
The human interface of a Caterpillar 325FB feller-buncher was modiied to allow the operator to use i a 5-DOF joystick, and ii a 6-DOF magnetically-levitated joystick with stiiness feedback. While the operator commanded the velocity of the endpoint, an onboard computer system managed total system power, solved the inverse kinematics, servoed the joint(More)
Binocular eye-gaze tracking can be used to estimate the point-of-gaze (POG) of a subject in real-world 3-D space using the vergence of the eyes. In this paper, a novel noncontact model-based technique for 3-D POG estimation is presented. The noncontact system allows people to select real-world objects in 3-D physical space using their eyes, without the need(More)
The precision of point-of-gaze (POG) estimation during a fixation is an important factor in determining the usability of a noncontact eye-gaze tracking system for real-time applications. The objective of this paper is to define and measure POG fixation precision, propose methods for increasing the fixation precision, and examine the improvements when the(More)