Title :
A tensor algebraic framework for the intuitive exploration of sensory substitution spaces
Author :
Csapo, Adam ; Baranyi, Peter
Author_Institution :
Dept. of Telecommun. & Media Inf., Budapest Univ. of Technol. & Econ., Budapest, Hungary
Abstract :
We refer to channels of communication that link the user to information systems as cognitive communication channels. One especially interesting research topic related to cognitive communication channels deals with a special application called sensory substitution, when information is conveyed through a channel other than the one that is normally used for the given application. Our goal is to develop engineering systems for the remote teleoperation of robots using sensory substitution to convey feedback information in meaningful ways. Such applications could help reduce the cognitive load for the user on the one hand, and help alleviate the effect of control instabilities and hidden parameters on the other. In this paper, we present a tensor algebraic approach for the compact representation of complete sensory substitution channels. Using HOSVD, we transform our representations into canonical, orthogonal forms. Through a combination of rank-reduction and error compensation techniques, we propose an iterative and hierarchical parameter space exploration method which may help users tune the generated sensory substituted signals in a more intuitive fashion. As an application example, we present a mapping between tactile percepts and auditory parameters in order to convey the tactile experience of a robot to a remote user through sound. In order to be able to apply a wide a wide range of mathematical analysis tools - such as principal component analysis and user performance-oriented adaptivity - we demonstrate that it is possible to convert our models into HOSVD-based canonical forms. The verification of the enhanced parameter space exploration method using rank reduction and error compensation in this application remains part of our future work.
Keywords :
telerobotics; tensors; auditory parameters; cognitive communication channels; error compensation technique; hierarchical parameter space exploration method; intuitive exploration; iterative parameter space exploration method; mathematical analysis tools; principal component analysis; rank-reduction technique; remote teleoperation; remote user; robot; sensory substitution channels; tactile experience; tactile percepts; tensor algebraic approach; user performance-oriented adaptivity; Equations; Mathematical model; Robot sensing systems; Rough surfaces; Surface roughness; Tensile stress; Tuning;
Conference_Titel :
Intelligent Systems and Informatics (SISY), 2010 8th International Symposium on
Conference_Location :
Subotica
Print_ISBN :
978-1-4244-7394-6
DOI :
10.1109/SISY.2010.5647127