| Semi-Autonomous Collaborative Control of Multi-Robotic Systems for Multi-Task Multi-Target Pairing |
Nov 2011 |
11 pages |
| Authors:
Yushing Cheung; Jae H Chung; Ketula Patel; ARMY ARMAMENT RESEARCH DEVELOPMENT AND ENGINEERING CENTER PICATINNY ARSENAL NJ
|
 | In many applications, it is required that heterogeneous multirobots are grouped to work on multi-targets simultaneously. Therefore, this paper proposes a control method for a singlemaster multi-slave (SMMS) teleoperator to cooperatively control a team of mobile robots for a multi-target mission. The major components of the proposed control method are the compensation for contact forces, modified potential field based leaderfollower formation, and robot-task-target pairing method. The robot-task-target paring method is ... |
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| Streaming Video Modeling for Robotics Teleoperation |
11 AUG 2011 |
8 pages |
| Authors:
Paul Bounker; Kevin Hope; John Kaniarz; Dennis Bergin; ARMY TANK AUTOMOTIVE RESEARCH DEVELOPMENT AND ENGINEERING CENTER WARREN MI
|
| Most of the current fielded Unmanned Ground Vehicle (UGV) functionality is dependent on the ability to drive the UGV using tele-operation technology. In addition, a large number of payloads require tele-operation to perform the mission function. Tele-operation technology is dependent on providing the operator streaming video, which is reliant on radio capabilities along with video format, resolution and compression routines. There have been Army efforts to perform real-time network modeling ... |
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| Streaming Video Modeling for Robotics Teleoperation |
02 AUG 2011 |
12 pages |
| Authors:
Paul Bounker; ARMY TANK-AUTOMOTIVE COMMAND WARREN MI
|
| Topics discussed are purpose of streaming video, system architecture, JGRE FY11 objectives, current progress, communications model, next steps, long term plan and future uses. |
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| Effects of Imperfect Automation on Operator's Supervisory Control of Multiple Robots |
Aug 2011 |
44 pages |
| Authors:
Jessie Y Chen; Michael J Barnes; Caitlin Kenny; ARMY RESEARCH LAB ABERDEEN PROVING GROUND MD HUMAN RESEARCH AND ENGINEERING DIRECTORATE
|
| A military multitasking environment was simulated to examine the performance of robotics operators whose task was to manage a team of four ground robots with the assistance of RoboLeader, an intelligent agent that could coordinate the robots by changing their plans based on developments in the mission environment. The reliability of RoboLeader s recommendations was manipulated to be either false-alarm prone (FAP) or miss prone (MP), with a reliability level ... |
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| Sticky-Finger Manipulation with a Multi-Touch Interface |
Jul 2011 |
54 pages |
| Authors:
Yue P Toh; CARNEGIE-MELLON UNIV PITTSBURGH PA SCHOOL OF COMPUTER SCIENCE
|
| Manipulation of complex simulated entities like cloth in graphical applications can be non-intuitive and awkward for the user due to the high number of degrees of freedom in their motions. In robotics, direct control of a robotic manipulator for a highlydexterous task is similarly tedious because multiple joints have to be controlled simultaneously in close coordination and often in varying velocities. Conventional interaction devices used in these applications, such as ... |
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| NEO PI-R Normative Personality Data that Distinguish U.S. Air Force MQ-1 Predator and MQ-9 Reaper Sensor Operators from AC-130 Gunship Sensor Operators and Peers in the General Population |
30 Jun 2011 |
30 pages |
| Authors:
Robert Craig-Gray; Wayne L Chappelle; John Heaton; Amber Salinas; SCHOOL OF AEROSPACE MEDICINE WRIGHT PATTERSON AFB OH
|
| The U.S. Air Force remotely piloted aircraft MQ-1 Predator and MQ-9 Reaper sensor operators (SOs) represent a group of enlisted airmen in a high-demand, high-precision, aviation-related position where they have a pivotal role in precision-strike aerial operations. This study evaluated psychological baseline test scores from the NEO Personality Inventory-Revised (NEO PI-R) on enlisted airmen who became operational Predator/Reaper SOs in an effort to assess how key personality traits (e.g., neuroticism, ... |
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| Important and Critical Psychological Attributes of USAF MQ-1 Predator and MQ-9 Reaper Pilots According to Subject Matter Experts |
MAY 2011 |
43 pages |
| Authors:
Wayne Chappelle; Kent McDonald; Katharine McMillan; SCHOOL OF AEROSPACE MEDICINE WRIGHT PATTERSON AFB OH AEROSPACE MEDICINE DEPT/ AEROSPACE MEDICINE CONSULTATION DIV
|
| Among U.S. Air Force remotely piloted aircraft, the MQ-1 Predator and MQ-9 Reaper have emerged as critical assets to intelligence, surveillance, reconnaissance, and close air support operations. The effective selection of Predator/Reaper pilot training candidates for such aircraft is essential to successful training and operational performance. However, a profile of "the right stuff" (i.e., cognitive aptitudes, personality traits, and motivation) guiding aeromedical flight screening and selection processes for such pilots ... |
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| Remote Operators Prefer Goal-based Semi-Autonomous Algorithms (PREPRINT) |
18 APR 2011 |
19 pages |
| Authors:
Shawn Hunt; Gary Witus; R. D. Ellis; Abhilash Pandya; ARMY TANK AUTOMOTIVE RESEARCH DEVELOPMENT AND ENGINEERING CENTER WARREN MI
|
| This focus of this research was to determine if reliable goal-based semiautonomous algorithms are able to improve remote operator performance or not. Two semi-autonomous algorithms were looked at: visual servoing and visual dead reckoning. Visual servoing uses computer vision techniques to generate movement commands while uses internal properties of the camera combined with sensor data that tell the robot its current position based on its previous position. This research proved ... |
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| Cortical Mechanisms of Multi-step Action Planning |
16 DEC 2010 |
12 pages |
| Authors:
Scott H. Frey; OREGON UNIV EUGENE RESEARCH SERVICES AND ADMINISTRATION
|
| Our project seeks to understand the changes in behavior and brain that accompany the development of expertise in the telecontrol of tools and devices. Particular emphasis is placed on the control of multi-step actions in which ongoing behavior must be adjusted in anticipation of forthcoming task demands. These anticipatory adjustments to behavior reflect the use of internal representations. We are using functional magnetic resonance imaging (fMRI) and behavioral measures (kinematics) ... |
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| Teleoperation of a Team of Robots with Vision |
01 NOV 2010 |
17 pages |
| Authors:
Wesley Snider; Griff Bilbro; NORTH CAROLINA STATE UNIV AT RALEIGH OFFICE OF CONTRACTS AND GRANTS
|
| In this paper, we report on the initial development of the component capabilities, especially the imaging capabilities, in Computer Vision, Autonomy, and Teleoperation for the long-term goal of operating a team of robots for purposes of surveillance or materiel transport. The team is a collection of five to fifty monocular mobile robots that are jointly controlled by a single user with a joystick. Each robot communicates with nearby robots, could ... |
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| Scalability of Robotic Controllers: Speech-Based Robotic Controller Evaluation |
Jun-2009 |
54 pages |
| Authors:
Elizabeth S Redden; Rodger A Pettitt; Christian B Carstens; ARMY RESEARCH LAB ABERDEEN PROVING GROUND MD HUMAN RESEARCH AND ENGINEERING DIRECTORATE
|
| This study, which took place at Fort Benning, GA, focused on the feasibility of reducing robotic controller size by replacing some of the manual controls with speech-based controls. Eleven Soldiers from the Officers Candidate School served as participants. After training on the operation of the iRobot PackBot small unmanned ground vehicle (SUGV) system, each Soldier teleoperated the SUGV using two controller conditions; a combination of speech and manual control and ... |
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| A Comparison of Soldier Performance in a Moving Command Vehicle Under Manned, Teleoperated, and Semi-Autonomous Robotic Mine Detector System Control Modes |
Sep-2008 |
52 pages |
| Authors:
David R Scribner; David Dahn; ARMY RESEARCH LAB ABERDEEN PROVING GROUND MD HUMAN RESEARCH AND ENGINEERING DIRECTORATE
|
| Soldiers will be required to perform missions using remote technology with increasing frequency as the U.S. Army transforms. Soldiers will be asked to carry out missions that will require them to be at greater standoff distance at the cost of degraded sensory information and resulting limited system performance. Historically, teleoperated systems have had capabilities that are twice the error rate and time required to perform a mission. This is due ... |
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| Safe Operation of Mobile Unmanned Ground Vehicle (UGV) Systems. Test Operations Procedure (TOP) |
08-Jul-2008 |
27 pages |
| Authors:
ABERDEEN TEST CENTER MD
|
| This document describes the procedures for determining the mobility related capabilities and characteristics of UGVs. It focuses heavily on the contribution of teleoperation to overall mobility and safe operation. |
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| Safe Operation of Weaponized Unmanned Ground Vehicle (UGV) Systems. Test Operations Procedure (TOP) |
08-Jul-2008 |
25 pages |
| Authors:
ABERDEEN TEST CENTER MD
|
| The procedures in this Test Operating Procedure (TOP) describe the actions needed to test teleoperated, weaponized Unmanned Ground Vehicles (UGVs) performance and safety. This document focuses on the unique aspects of testing weaponized vehicles that operate via remote teleoperation. |
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| Scalability of Robotic Controllers: An Evaluation of Controller Options |
MAY 2008 |
86 pages |
| Authors:
Rodger A. Petitt; Elizabeth S. Redden; Christian B. Carstens; ARMY RESEARCH LAB ABERDEEN PROVING GROUND MD HUMAN RESEARCH AND ENGINEERING DIRECTORATE
|
| This study, conducted at Fort Benning, Georgia, was an operational investigation of tele-operation control performance with the use of three different robotic control devices. Twelve Soldiers from the Officers Candidate School and three Soldiers from Headquarters Company, 1st Battalion, 11th Infantry Regiment served as participants. Before any training, Soldiers provided an initial evaluation of the intuitiveness of controller features. After training in the operation of the IRobot PackBot Robot system, ... |
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| Scalability of Robotic Displays: Display Size Investigation |
MAY 2008 |
63 pages |
| Authors:
Elizabeth S. Redden; Rodger A. Pettitt; Christian B. Carstens; Linda R. Elliott; ARMY RESEARCH LAB ABERDEEN PROVING GROUND MD HUMAN RESEARCH AND ENGINEERING DIRECTORATE
|
| This study was an investigation of the effect of camera view display sizes on robotic tele-operation control performance in a realistic context. It took place at Fort Benning, Georgia, and used Soldiers from the Officer Candidate School. After training in the operation of the TALON robot system, each Soldier completed exercises using four different display sizes that were chosen to match the size and resolution of displays that might be ... |
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| Assessing the Impact of Haptic Peripheral Displays for UAV Operators |
MAR 2008 |
71 pages |
| Authors:
B. Donmez; H. D. Graham; M. L. Cummings; CHARLES RIVER ANALYTICS INC CAMBRIDGE MA
|
| Objectives: A pilot study was conducted to investigate the effectiveness of continuous haptic peripheral displays in supporting multiple UAV supervisory control. Background: Previous research shows that continuous auditory peripheral displays can enhance operator performance in monitoring events that are continuous in nature, such as monitoring how well UAVs stay on their pre-planned courses. This research also shows that auditory alerts can be masked by other auditory information. Command and control ... |
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| Operating an Unmanned Aerial System from a Moving Platform |
01-Nov-2007 |
17 pages |
| Authors:
Guennadi S Antonov; Mark C Domogala; Wesley A Olson; AIR FORCE ACADEMY COLORADO SPRINGS CO INST FOR INFORMATION TECHNOLOGY APPLICATIONS
|
| While the Spatial Disorientation (SD) has long been recognized as an important causal factor in aviation incidents and accidents, it is only beginning to be recognized as a factor in Uninhabited Aerial Systems (UASs). As a first step towards better understanding the effects of control platform motion on manual UAV control Olson, DeLauer and Fale (2006) had 10 rated Air Force pilots fly a simulated UAV task (MS Flight Simulator) ... |
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| Simulating a Bilateral Teleoperation System Using Matlab and SIMULINK |
AUG 2007 |
14 pages |
| Authors:
Marc Alise; Rodney G. Roberts; Daniel W. Repperger; AIR FORCE RESEARCH LAB WRIGHT-PATTERSON AFB OH HUMAN EFFECTIVENESS DIRECTORATE
|
| Teleoperation provides a human-machine interface that allows an operator to control machines at a large distance. It has recently been the subject of a significant amount of research in the robotics community. Teleoperation can also provide an instructor with an excellent motivating example for a control systems course where it can serve as a platform for introducing several key controls issues such as noise compensation and time delay. Computer packages ... |
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| Workload, Stress, and Situation Awareness of Soldiers Who are Controlling Unmanned Vehicles in Future Urban Operations |
APR 2007 |
34 pages |
| Authors:
Bruce S. Sterling; Chuck H. Perala; ARMY RESEARCH LAB ABERDEEN PROVING GROUND MD HUMAN RESEARCH AND ENGINEERING DIRECTORATE
|
| This research describes the workload, stress, and situation awareness of operators of robotic reconnaissance platforms who are conducting future full spectrum operations in an urban setting. The participants controlled unmanned aerial vehicles, unmanned ground vehicles, and unmanned ground sensors in a virtual reality simulation as part of a combined arms battalion using Future Combat Systems. Results suggested that robotic controllers supporting infantry units had higher workloads and stress than controllers ... |
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| Virtual, Mixed, and Augmented Survey - Germany |
01 DEC 2005 |
29 pages |
| Authors:
Thomas Alexander; FGAN-FKIE WACHTBERG (GERMANY
|
| Augmented Reality (AR) and Virtual Environments (VE) have been introduced in the late 80s as innovative systems for displaying synthetic, computer-generated environments as if they were real. Various possible applications were identified soon, for instance: Product design, architecture, training, or teleoperation. But it turned out that computers rendering power and display technology were too limited for a reasonable application then. The whole concept seemed to be a promising science-fiction topic ... |
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| Passive Coordination of Nonlinear Bilateral Teleoperated Manipulators |
16 AUG 2005 |
36 pages |
| Authors:
M. McIntyre; W. Dixon; D. Dawson; E. Tatlicioglu; CLEMSON UNIV SC DEPT OF ELECTRICAL AND COMPUTER ENGINEERING
|
| Significant research has been aimed at the development and control of teleoperator systems due to both the practical importance and the challenging theoretical nature of the problem. Two controllers are developed in this paper for a nonlinear teleoperator system that target coordination of the master and slave manipulators and passivity of the overall system. The first controller is proven to yield a semi-global asymptotic result in the presence of parametric ... |
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| Wave Variable Method to Control Force-Reflecting Teleoperators With Time Delays: Generalizing the Wave Variable Method to Multiple Degree-of-Freedom Systems |
MAR 2005 |
14 pages |
| Authors:
R. G. Roberts; C. A. Moore; S. Tosunoglu; D. W. Repperger; FLORIDA AGRICULTURAL AND MECHANICAL UNIV TALLAHASSEE
|
| The Wave Variable Method is used to stabilize humans interacting with teleoperation tasks and time delays. This report generalizes the wave variable technique to multiple degrees-of-freedom systems. A new class of scaling matrices are obtained which has applicability to haptic devices. |
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| Unmanned Tracked Ground Vehicle for Natural Environments |
DEC 2004 |
9 pages |
| Authors:
J. Ibanez-Guzman; X. Jian; A. Malcolm; Z. Gong; Chun Wah Chen; Alex Tay; SINGAPORE INST OF MANUFACTURING TECH
|
| The deployment of an autonomous and teleoperated vehicle in tropical environments presents numerous challenges due to the extreme conditions encountered. This paper presents the transformation of a M113 Armored Personnel Carrier into an autonomous and teleoperated vehicle for operation in jungle-like conditions. The system was partitioned into functional systems: Vehicle Control/ Mobility, Piloting, Visual Guidance, Teleoperation and Communications. Details of the system architecture and major components are included. Emphasis is ... |
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| A Vision System for an Unmanned, Non-lethal Weapon |
01-Oct-2004 |
9 pages |
| Authors:
Greg Kogut; Larry Drymon; SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA
|
| Unmanned weapons remove humans from deadly situations. However some systems, such as unmanned guns, are difficult to control remotely. It is difficult for a soldier to perform the complex tasks of identifying and aiming at specific points on targets from a remote location. This paper describes a computer vision and control system for providing autonomous control of unmanned guns developed at Space and Naval Warfare Systems Center, San Diego (SSC ... |
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| Joint Program Planning for Australia/U.S. Robot Medical Assistant on the Battlefield |
APR 2004 |
39 pages |
| Authors:
Thomas O. Potthoff; ARMY AVIATION AND MISSILE COMMAND REDSTONE ARSENAL AL MISSILE RESEARCH DEVELOPMENT AND ENGINEERING CENTER
|
| Recent advances in both medical technologies and teleoperated robotics have presented opportunities for taking advanced medical care into battlefield situations. Research and development, as well as field ready capabilities, are reviewed to identify appropriate functional areas for formulation of an advanced integrated medical care system for battlefield casualties. Areas of special interest to the Australians are identified as are areas of special interest to the United States (U.S.). A Draft ... |
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| Snapshots for Semantic Maps |
2004 |
7 pages |
| Authors:
Curtis W. Nielsen; Bob Ricks; Michael A. Goodrich; David Bruemmer; Doug Few; Miles Walton; BRIGHAM YOUNG UNIV PROVO UT DEPT OF COMPUTER SCIENCE
|
| A significant area of research in mobile robotics is in the local representation of a remote environment. To include a human in a mobile robot task it becomes important to present the remote information efficiently to a human. Semantic maps are a relatively new approach to information presentation. Semantic maps provide more detail about an environment than typical maps because they are augmented by icons or symbols that provide meaning ... |
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| Ecological Displays for Robot Interaction: A New Perspective |
2004 |
7 pages |
| Authors:
Robert W. Ricks; Curtis W. Nielsen; Michael A. Goodrich; BRIGHAM YOUNG UNIV PROVO UT
|
| Most interfaces for robot control have focused on providing users with the most current information and giving status messages about what the robot is doing. While this may work for people who are already experienced in robotics, an alternative paradigm is needed for enabling new users to control robots effectively. Instead of approaching the problem as an issue of what information could be useful, the focus should be on presenting ... |
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| Design and Implementation of an Intelligent Primitive Driver |
2003 |
85 pages |
| Authors:
Jr Vinch Peter M.; FLORIDA UNIV GAINESVILLE CENTER FOR INTELLIGENT MACHINES AND ROBOTICS
|
| An Intelligent Primitive Driver (IPD) was designed to supplement the control of a Primitive Driver component that is defined in the Department of Defense Joint Architecture for Unmanned Systems (JAUS). Whereas the Primitive Driver component accepts and blindly executes wrench commands, the IPD uses various subsystems to provide it with the necessary information to make low-level decisions concerning vehicle control. The IPD is accessible by either an onboard autonomous control ... |
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| Telepresence and Intervention Robotics |
01 NOV 2000 |
11 pages |
| Authors:
Nathalie Cislo; LABORATOIRE DE ROBOTIQUE DE PARIS VELIZY-VILLACOUBLAY (FRANCE)
|
| In the field of Mobile Robotics applications dedicated to inspection or intervention in hostile, unreachable or unstructured environments, human operators are "processed" in the control loop developed for a Telepresence System. On the one hand dynamic situations suffer from a lack of automation degree by mobile robots but on the other hand a complete task robotisation can run counter to economic or human constraints. In mine clearance activity for instance. ... |
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| An Advanced Telereflexive Tactical Response Robot |
APR 2000 |
7 pages |
| Authors:
G. A. Gilbreath; D. A. Ciccimaro; H. R. Everett; SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA
|
| ROBART III is intended as an advanced demonstration platform for non- lethal tactical response, extending the concepts of reflexive teleoperation into the realm of coordinated weapons control (i.e., sensor-aided control of mobility, camera, and weapons functions) in law enforcement in urban warfare scenarios. A rich mix of ultrasonic and optical proximity and range sensors facilitates remote operation in unstructured and unexplored buildings with minimal operator oversight. Supervised autonomous navigation and ... |
|
| Pneumatic Muscle Actuator Control |
2000 |
7 pages |
| Authors:
John H. Lilly; LOUISVILLE UNIV KY DEPT OF ELECTRICAL AND COMPUTER ENGINEERING
|
| This research is relevant to the Air Fore mission because pneumatic muscle actuation devices arc advantageous for certain types of robotics as well as for strength and/or mobility assistance for humans. For space robotics, PMs are advantageous because they require little electrical power (being pneumatically powered), are lightweight, and can be easily constructed from cheap, readily available materials. The fact that PMs require little electrical power means that heavy generators ... |
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| Human Interfaces for Robotic Satellite Servicing |
1999 |
10 pages |
| Authors:
John D. Ianni; Daniel Repperger; Robert W. Baker; Robert L. Williams; AIR FORCE RESEARCH LAB WRIGHT-PATTERSON AFB OH
|
| On-orbit servicing (OOS) is growing in importance for the sustainment of certain satellite systems. Although it is more economical to replace satellites in many cases, OOS could be beneficial or even critical for more expensive satellites such as Space-Based Laser and constellations such as the Global Positioning System. Some future OOS missions including refueling and modular component replacement will be highly autonomous, but there will still be a need for ... |
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| Integrated Remote Neurosurgical System |
SEP 1998 |
22 pages |
| Authors:
Hunter J. Downs; VIRGINIA NEUROLOGICAL INST CHARLOTTESVILLE VA
|
| The Integrated Remote Neurosurgical System (IRNS) is a robotic neurosurgical microscope remotely-operated through the utilization of high-speed communications and a surgeon-accessible computer interface. The intended use of this system is for surgical mentoring of an operating-room (OR) surgical team by a remote expert surgeon. In the design of the IRNS, we emphasized giving the remote surgeon the feeling of actually being in the OR, a sense of telepresence, through the ... |
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| Electronic Navigation Displays for Teleoperated Vehicles |
MAY 1998 |
83 pages |
| Authors:
Alfred J. Grein; PENNSYLVANIA STATE UNIV UNIVERSITY PARK COLL OF ENGINEERING
|
| The purpose of this study was to determine the cognitive processes employed by an experienced individual when a 3D forward field of view (FFOV) was matched with a 2D topographic contour map. It was assumed that when the viewed landsurface and the map were at different azimuth orientations, comparisons between these two displays could not proceed without some preliminary cognitive adjustive manipulations. The findings of this experiment concluded that these ... |
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| Design and Construction of a Portable Force-Reflecting Manual Controller for Teleoperation Systems |
JAN 1998 |
157 pages |
| Authors:
Pat Batsomboon; Sabri Tosunoglu; Daniel W. Repperger; FLORIDA INTERNATIONAL UNIV MIAMI DEPT OF MECHANICAL ENGINEERING
|
| A teleoperation system was constructed to work in uncertain, complex, and hazardous environments. The remote operator who controls this system is located at a safe venue and receives video information and also has access to a force reflecting robotic manipulator. The force reflecting robotic manipulator (manipulandium) provides a sense of telesensation to the operator, thus enhancing his situational awareness about the remote task being performed. Various controllers were used to ... |
|
| Advances in Multimedia and Simulation. Human-Machine-Interface Implications. Proceedings of the Europe Chapter of the Human Factors and Ergonomics Society Annual Conference |
19 NOV 97 |
|
| Authors:
Klaus Peter Holzhausen; FACHHOCHSCHULE BOCHUM (GERMANY)
|
 | The Final Proceedings for Advances in Multimedia and Simulation, 6 November 1997 - 7 November 1997 Multimedia in Information Systems, Multimedia applications in Higher Education, Multimedia applications in Architecture, Videoconferencing including Multimedia, Teleoperation in Virtual Reality, Multimedia and Virtual Environment, Modeling and Simulation of Ground Vehicles, Simulation in Traffic Environment, Flight and Air Traffic Control Simulation, Underwater Simulation, Factory Simulation, Simulation of Medical Systems, Power Plant Simulation and Training, Military ... |
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| Equipment, Personnel, Facilities and Supplies to Conduct Studies on the Research Project Entitled "Look and Feel: Haptic Interaction for Biomedicine" |
OCT 1997 |
261 pages |
| Authors:
J. K. Salisbury Jr.; MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB
|
| This project focuses on the development and demonstration of fundamental technologies for advanced virtual interaction for surgical simulation and for teleoperation systems used to per for remote surgical procedures. The emphasis at MIT during the past year has been to develop advanced haptic interface technologies, and the development of hardware and software needed to enable enhanced surgical teleoperation. This effort has culminated in the development of the Silver Falcon and ... |
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| Interference Between 6 Degrees of Freedom in a 3D Hand Controller |
04 JUL 97 |
|
| Authors:
J. E. Korteling; A. Oving; M. L. van Emmerik; J. B. F. van Erp; HUMAN FACTORS RESEARCH INST TNO SOESTERBERG (NETHERLANDS)
|
| A six degree of freedom (DOF) hand controller is a device that can be used for the simultaneous control of multiple axes. These kinds of control tasks are common in areas such as teleoperation. Multi-axis control may be problematic as a consequence of interference I.e., the control of a certain DOF affected the simultaneous control of another. Irrespective whether the cause of this interference lies in the operator's motor system ... |
|
| Development of a Remote Operation Capability for the Rapid Runway Repair (RRR) Excavator |
DEC 95 |
24 pages |
| Authors:
C. D. Crane; FLORIDA UNIV GAINESVILLE
|
| The objective of this project was to develop a system such that an operator could control a John Deere 69OC excavator remotely while accomplishing RRR tasks. With this remote-control system, an operator is able to direct all functions of the excavator (propulsion, digging, compaction, leveling, etc.) from a control console located remotely from the vehicle. As such, an important element of the project is to provide the operator with sufficient ... |
|
| Look and Feel: Haptic Interaction for Biomedicine (Videorecording). |
OCT 1995 |
|
| Authors:
MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB
|
| Physical description: 1 VHS video; 1/2 in.; col.; sd.; mono; 5 mins; standard playback sp. This project develops and demonstrates key technologies for advanced virtual interaction for surgical simulation and teleoperation systems used to perform remote surgical procedures. Our focus at MIT during the past year has been to develop the first level of interfaces and algorithms needed to accomplish the broad goals of performing virtual and remote surgical procedures. ... |
|
| Look and Feel: Haptic Interaction for Biomedicine |
OCT 1995 |
101 pages |
| Authors:
J. K. Salisbury Jr; MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB
|
| This project develops and demonstrates key technologies for advanced virtual interaction for surgical simulation and teleoperation systems used to perform remote surgical procedures. Our focus at MIT during the past year has been to develop the first level of interfaces and algorithms needed to accomplish the broad goals of performing virtual and remote surgical procedures. During the past year we have implemented a computational environment including control software, graphics software ... |
|
| Robotic-Remote Operated Sensing Device for U.S. Coast Guard |
JUL 95 |
85 pages |
| Authors:
Christopher Alberts; Alan Guisewite; William Kaufman; Mel Siegel; CARNEGIE-MELLON UNIV PITTSBURGH PA
|
| This report describes a research program to evaluate if any state-of- the-art robotics technology is applicable to a hazardous- response robot for the Coast Guard. In general, little is known about the conditions facing a Coast Guard Strike Team when a chemical spill is initially encountered. This makes reconnaissance work both important and extremely hazardous. One way to reduce some of the risks facing the strike teams would be to ... |
|
| Force Feedback for Anthropomorphic Teleoperated Mechanisms |
JUN 95 |
145 pages |
| Authors:
James A. Chatfield Ii; NAVAL POSTGRADUATE SCHOOL MONTEREY CA
|
| The use of anthropomorphic teleoperated mechanisms has gained considerable attention as a means of performing tasks that require human-like control, but due to the nature of the environment, would be optimally accomplished without direct human contact in the particular workspace. These tasks include mine clearance, space operations, hazardous waste cleanup, and even surgery. In order to continue research into this method of remote, manual supervisory control, an anthropomorphic robot was ... |
|
| Simulator Sickness in Virtual Environments |
MAY 95 |
68 pages |
| Authors:
Eugenia M. Kolasinski; ARMY RESEARCH INST FOR THE BEHAVIORAL AND SOCIAL SCIENCES ALEXANDRIA VA
|
| Virtual Reality (also known as Virtual Environment or VE) technology shows many promising applications in areas of training, medicine, architecture, astronomy, data handling, teleoperation, and entertainment. A potential threat to using this - technology is the mild to severe discomfort that some users experience during or after a VE session. Similar effects have been observed with flight and driving simulators. The simulator sickness literature forms a solid background for the ... |
|
| UGV History 101: A Brief History of Unmanned Ground Vehicle (UGV) development Efforts |
1995 |
10 pages |
| Authors:
Douglas W. Gage; NAVAL COMMAND CONTROL AND OCEAN SURVEILLANCE CENTER RDT AND E DIV SAN DIEGO CA
|
| The purpose of this paper is to provide a brief survey of a number of different threads of development that have brought the Unmanned Ground Vehicle (UGV) field to its current state, together with references to allow the interested reader to probe more deeply. In the broadest "dictionary" sense, a UGV is any piece of mechanized equipment that moves across the surface of the ground and serves as a means ... |
|
| Bilateral Force Feedback for Hydraulically Actuated Systems |
DEC 94 |
120 pages |
| Authors:
Gregory S. Johnson; NAVAL POSTGRADUATE SCHOOL MONTEREY CA
|
| This thesis report discusses the design, construction, and experimentation of force feedback in one and two degrees of freedom, hydraulically actuated systems. A master hydraulic unit is used to positionally control a remotely located slave hydraulic unit. An obstruction in the path of the slave unit is used as a force control to the master unit, reducing the power assist to the operator. An analysis was conducted to predict the ... |
|
| Improved Operator Awareness of Teleoperated Land Vehicle Attitude |
JUN 94 |
34 pages |
| Authors:
Tracy H. Pastore; NAVAL COMMAND CONTROL AND OCEAN SURVEILLANCE CENTER RDT AND E DIV SAN DIEGO CA
|
| The operator of a teleoperated land vehicle must have a sufficient understanding of the attitude of a remote vehicle to successfully operate it in an unstructured outdoor environment. The goal of this effort was to develop a human-machine interface that provides sufficient remote vehicle attitude information while minimally impacting operator workload. Referencing the remote video sensors to the earth's gravitational field was proposed as a means of providing vehicle attitude ... |
|
| Human-Machine Interfaces |
31 JUL 93 |
26 pages |
| Authors:
Nathaniel Durlach; MASSACHUSETTS INST OF TECH CAMBRIDGE RESEARCH LAB OF ELECTRONICS
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| The normal human auditory system suffers from many deficiencies in its ability to localize sound sources in space. Not only is it generally poor at determining the elevation and distance of a sound source, but in certain cases it is relatively poor at determining the azimuth of the source. The research discussed in this report is concerned with the development and evaluation of systems that result in improved localization, i.e., ... |
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| Tactile Sensing and Control in Humans and Robotic/Teleoperated Systems |
JUL 93 |
7 pages |
| Authors:
Mark R. Cutkosky; Gregory T. Kovacs; Robert D. Howe; Roger Brockett; Roland Johansson; STANFORD UNIV CA DEPT OF MECHANICAL ENGINEERING
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| Over the last several years, a number of sophisticated robot hands have been developed for laboratory use. However, while such hands approximate the mechanical complexity of human hands, their application in manipulation tasks remains in a primitive stage. Unlike human hands, they rely on minutely programmed task descriptions that are time-consuming to generate and susceptible to unanticipated changes in the task or the immediate environment. This is largely because they ... |
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