dex-os: intelligent control of manipulators for offshore ... wissman … · dex-os: intelligent...
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TrendsinOffshoreEnergyIntervention
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On-shore Control Stations
Reduce Offshore Asset Requirements
Resident ROVs
Driver: Reduce Operations Expenses
ROV– ChallengesofRemoteIntervention
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Legacy Challenges1. Monocular vision2. One arm3. Metal claw4. Unstable base
New Trend Challenges1. Bandwidth2. Latency
ControlofMachines– TwoExtremes
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Cognition RequiredUnstructuredSlow and imprecise
No cognition requiredStructuredRepetitive, predictable taskCan be very fast
CompetitivelySensitiveInformation
Direct Manual Control Full Automation
UsingSoftwaretoImprovePerformance
5CompetitivelySensitiveInformation
Direct Control(no assistance from computer)
Augmented Control(computer interprets intent)
Full Automation(no assistance from human)
Mixed Autonomy(human directs tasks)
Variable Levels of Automation
Airplane Cockpit Example
TechnologiesforAugmentedTelerobotics
Connector
Connector
DataFusion
MachineLearning
PilotAssistance
CompetitivelySensitiveInformation
CoreTechnology#2:Adaptivemachinelearning
SourceData MachineLabeling ObjectTracking
Benefits• Automatic calibration of sensors and robots.• Automatically identifying and labeling all people, structures and objects in the workspace. • Tracking the robotic operation to recognize equipment or environmental risks
On-The-FlyTraining
Connector
Connector
CoreTechnology#3:Pilotassistance
Virtual fixture end
Virtual fixture startA
Force feedback trajectory
Robot arm representationB
Guidance arrow
C
Virtualfixturesandassistiveconstraints
Supervised automation approachHuman-centered assistance
(Our approach)
Supervised system
Remote robot and sensors
Human operator
Remote robot and sensorsHuman
operator
Assistance software
WhoisBluHaptics?
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User-Focused
Hardware-Focused Low-levelExpertusersNotaccessible
High-levelPlug&play
Usersetup&run
VALU
E
PersonalComputers Robotics
User-FocusedRoboticsOperatingSystem
Dex-OS
CompetitivelySensitiveInformation
BluHaptics Product
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“.. a huge leap in manipulator control“Oil and Gas Service Provider
“…’game changing’ technology for in-space robotics and manufacturing“
Tethers Unlimited
“…will increase intuitiveness and efficiency for remotely operating dexterous manipulators“
NASA
Dex-OS
CompetitivelySensitiveInformation
Integrated Variable AutonomyTelerobotic Control Platform
VariableAutonomyforIntervention
13CompetitivelySensitiveInformation
Direct Control(no computer assistance)
Augmented Control(assisted tasks)
Full Automation(no human assistance)
Mixed Autonomy(human directs tasks)
Levels of Automation
Dex-OSControl software able to meet emerging
and evolving requirements