teleoperation
Post on 08-Feb-2016
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TeleoperationInterfaces
Introduction Interface between
the operator and teleoperator!
Teleoperation interface is like any other HMI
H(mobile)RI = TI Also a HCI
Introduction mechanical
manipulation – ”included” interface
Modern methods Closed loop
teleoperation – MMI Supervisory control
– HCI Mixed interfaces
Interface types, Fong Direct
Closed loop Multimodal/multisensor
Multisensor/actuator control Supervisory control
Intelligent telerobot Novel
New ones
Interface - Direct Closed loop control Realtime operator
decision making is needed
Operator controls with hand controllers (like onboard)
High bandwith low delay communication
Multimodal/multisensor Complex robot in
dynamic situation Individual actuator
control, graphical feedback, coordinated motion
Integrated display with combined sensor information
Supervisory control Remarkable part of the control in the
teleoperator end Teleoperator is capable for more or less
autonomous task execution “task based teleoperation”
Control methods
H M I c o m p u te r
te leo p e ra to r ’sco m p u te r
tr an sm is s io n
O P E R AT O R
TA S K
d isp la y co n tro ls
ac tu a to r sse n so rs
H M I c o m p u te r
te le o p e ra to r ’sco m p u te r
tran sm is s io n
O P E R AT O R
TA S K
d isp la y c o n tro ls
a c tu a to rsse n so r s
H M I c o m p u te r
te le o p e ra to r ’sc o m p u te r
tr a n sm is sio n
O P E R AT O R
TA S K
d isp lay c o n tro ls
ac tu a to rsse n so r s
Direct Supervisory
Novel interfaces ”novel” is relative gestures gazes brainwaves muscle movements WEB interfaces
multimodal supervisory
Telepresence When sufficient amount of sensor
information (vision, sound, force) is brought from the teleoperator site to the operator he or she feels physically present in the teleoperator site
Called also tele-existence Important information is transferred
and dangerous/noise is filtered
Virtual presence (reality) Like tele-presence
except the sensor infromation is generated artificially by computer(s)
Simulators Games Models
Augmented reality Real information
(usually image data) is mixed with additional virtual information
Numerical information, real-time models, etc.
Telepresence Already camera monitor combination
creates some level of presence more sophisticated system is called for
in order to call it telepresence To provide a perfect telepresence, all
human senses should be transmitted from the teleoperator site to the operator site vision, hearing and sense are relatively easy smell and taste are more complicated
Vision Humans get 90% of their perception “To see is to believe” eyes are very complex opto-
mechanical systems FoV is (H)180 deg x (V)120 deg Focused area only few degrees Movements from whole area
Extremely difficult system to be imitated
Vision Head tracking Head following
cameras (2-3 DoF)
HMD => relatively
good feeling of presence
Hearing Human area 16 – 20000Hz Important in telepresence In case of mobile machine control
the noise can be filtered and the important sounds transferred with reasonable volume
Touch The most important human sense Human touch sensors –
mechanoreceptors – are activated by touch, i.e. by pressure on the tissues
Two basic classes tactile information (“touch”) kinesthetic information (“force”)
Tactile referring to the sense of contact
with the object, mediated by the responses of low-threshold mechanoreceptors innervating the skin (say, the finger pad) within and around the contact region
Kinesthetic referring to the sense of position
and motion of limbs along with the associated forces conveyed by the sensory receptors in the skin around the joints, joint capsules, tendons, and muscles, together with neural signals derived from motor commands
Force feedback (kinesthetic) force generated by the
teleoperator, usually a manipulator, is fed back to the operator in order to generate a real response in gripping and manipulation tasks
Also in virtual environments
Inbuilt in mechanical manipulators
Haptic feedback (tactile) haptic feedback,
the tactile skin sensors have the main role.
tactile sensing of the robot manipulator is fed back to the fingers of the operator
Other possibilities also
Vestibular sensors inside the inner ear angular acceleration and thus
rotation linear acceleration in the horizontal
and vertical plane, i.e. to gravity => position and movements of the
head to be detected Important in dynamic driving tasks
Vestibular feedback not usually used in
teleoperation not needed and
expensive to implement
usually in simulators to create presence
If vision and vestibular sensors mismatch => simulator sickness (=seasickness)
Simulator Sickness similar to motion sickness difference is that SS can occur
without any actual motion of the operator
Symptoms: apathy, general discomfort, headache, stomach awareness, nausea, etc.
encountered especially when HMD type displays are used
Simulator Sickness The most typical reason
of SS is the cue conflict In cue conflict different
nerves get different information from the environment
Typically conflict between visual and vestibular inputs
especially when HMD is used and the time lags in vision and control
Movingteloperator+
=>
What is Presence
Overview
Traditional explanation Based on tele(virtual)-presence Sheridan’s definition of telepresence
PRESENCE
Ability to modifythe envrionment
Control of relationof sensors to the
environment
Extent of sensoryinformation
Traditional explanation Extent of sensory information has
a much greater impact than the other two combined. These three factors however cannot describe presence alone. Task variables, such as task difficulty and degree of automation, also are important to presence.
Is presence only sensor information? It’s very easy to be unpresent in a
boring situation – like lectures What about dreaming while sleeping or
burying one’s head a book Presence can be very strong without
any sensor information ”a self generated Virtual Reality”
A book – a film from same book Maximum effect with hallucinogens
3 modes of presence
1. Really present, perceiving the existing environment
2. Tele or virtual presence presence is transferred/generated by ”cheating” human senses
3. ”Mental” presence, presence is generated in the mind without (direct) sensor information
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