ABSTRACT
This paper presents an integrated mapping of motion and visualization scheme based on a Mixed Reality (MR) subspace approach for the intuitive and immersive telemanipulation of robotic arm-hand systems. The effectiveness of different control-feedback methods for the teleoperation system is validated and compared. The robotic arm-hand system consists of a 6 Degrees-of-Freedom (DOF) industrial manipulator and a low-cost 2-finger gripper, which can be manipulated in a natural manner by novice users physically distant from the working site. By incorporating MR technology, the user is fully immersed in a virtual operating space augmented by real-time 3D visual feedback from the robot working site. Imitation-based velocity-centric motion mapping is implemented via the MR subspace to accurately track operator hand movements for robot motion control and enables spatial velocity-based control of the robot Tool Center Point (TCP). The user control space and robot working space are overlaid through the MR subspace, and the local user and a digital twin of the remote robot share the same environment in the MR subspace. The MR-based motion and visualization mapping scheme for telerobotics is compared to conventional 2D Baseline and MR tele-control paradigms over two tabletop object manipulation experiments. A user survey of 24 participants was conducted to demonstrate the effectiveness and performance enhancements enabled by the proposed system. The MR-subspace-integrated 3D mapping of motion and visualization scheme reduced the aggregate task completion time by 48% compared to the 2D Baseline module and 29%, compared to the MR SpaceMouse module. The perceived workload decreased by 32% and 22%, compared to the 2D Baseline and MR SpaceMouse approaches.
ABSTRACT
A thorough understanding of the inhalation dynamics of infectious aerosols indoors and infection dynamics within the host by inhaled viruses such as severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2) plays an important role in the assessment and control of infection risks indoors. Here, by combining computational fluid–particle dynamics (CFPD) and host–cell dynamics (HCD), SARS-CoV-2 infection dynamics in the mucus layer of the human upper airway were studied. To reproduce the diffusive and convective transport of the virus in the nasal cavity–nasopharynx by mucociliary motion, a three-dimensional (3D)-shell model with a mucus layer was developed. The initial virus concentrations for HCD calculation were estimated based on the deposition distribution of droplets with representative sizes analyzed by CFPD. To develop a new HCD model, the target-cell-limited model was integrated with the convection–diffusion equation. Additionally, the sensitivity of the infection rate β to the infection dynamics was systematically investigated. The results showed that the time series of SARS-CoV-2 concentration in the mucus layer strongly depended on diffusion, convection, and β. Although the SARS-CoV-2 dynamics obtained here have not been verified by corresponding clinical data, they can preliminarily reveal its transmission mode in the upper airway, which will contribute to the prevention and treatment of coronavirus disease 2019.