Visual Imagery for Subsea Teleprogramming
نویسندگان
چکیده
The objective of this work is to allow subsea teleop-erative tasks to be performed eeciently even when all communication between human operator and remote robot is via an acoustic link. This paper describes the integration of remote site cameras into the telepro-gramming system. Images from these cameras may be used for calibrating and maintaining the world model as well as for aiding the operator in diagnosing and recovering from unexpected events. The constrained communications channel forces the adoption of an intelligent approach to image transmission. The system automatically selects window-ing and subsampling parameters while varying frame rates and task execution speeds to match that which the system can support given available bandwidth and computational constraints. Examples are presented from recent tests in which an operator in Philadelphia controlled a robot manipula-tor mounted on an underwater vehicle submerged oo the Massachusetts coast.
منابع مشابه
Teleprogramming to Perform Sophisticated Underwater Manipulative Tasks Using Acoustic Communications
In this paper we describe preliminary in-air testing of the teleprogramming system. By way of example we describe the task of bolting/unbolting a hatch cover. The position of the cover was known only approximately and all communication between the operator and remote sites occurred via a simulated acoustic link. No visual feedback from the remote site was available. The operator interaction req...
متن کاملOperating Interaction and Teleprogramming for Subsea Manipulation
The teleprogramming paradigm has been proposed as a means to efficiently perform teleoperation in the subsea environment via an acoustical link. In such a system the effects of both limited bandwidth channels and delayed communications are overcome by transmitting not Cartesian or joint level information but rather symbolic, error-tolerant, program instructions to the remote site. The operator ...
متن کاملAn Operator Interface for Teleprogramming Employing Synthetic Fixtures
In the teleprogramming system an operator is presented with a virtual reality representation of a remote environment. The operator's interaction within that virtual environment is observed and translated into a sequence of robot program instructions for transmission to, and execution by, a robot at the remote site. In this paper we focus on operator interaction with the master station of the ...
متن کاملInvestigation of the visual and content validity and the reliability of the Persian version of the Movement Imagery Questionnaire for Children MIQ-C
The movement imagery helps to learn various sports skills if persons have a reasonable imagery about how doing that skill and the command be carved on the brain. The main aim of the current study is to investigate the visual and content validity as well as the reliability of the Persian version of the Movement Imagery Questionnaire for Children MIQ-C. The main questionnaire was translated into ...
متن کاملTeleprogramming: Remote Site Research Issues: (Dissertation Proposal)
This document proposes the development of the remote site workcell for teleoperation with significant communication delays (on the order of one to 20 seconds). In these situations, direct teleoperation becomes difficult to impossible due to the delays in visual and force feedback. Teleprogramming has been developed in order to overcome this problem. In teleprogramming, the human operator intera...
متن کامل