Remote manipulationtelerobotics

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Remote manipulation/telerobotics
adapted from lthttp//www.ornl.gov/rpsd/humfac/pag
e01d00.htmlgt
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Sources

• Wickens et al.
• lthttp//www.ornl.gov/rpsd/humfac/page01d00.htmlgt
• a good site from the Oak Ridge National Lab
• contains several essays on the human factors
  aspects of telerobotics and teleoperation
• Milgram, P., Zhai, S., and Drascic, D. (1993)
  Applications of augmented reality for human-robot
  communication. Proceedings of IROS93
  International Conference on Intelligent Robots
  and Systems, Yokohama, Japan. lthttp//vered.rose.u
  toronto.ca/people/david_dir/IROS93/IROS93.full.htm
  lgt

3
Definitions

• telerobots
• robots that are not autonomous, but are
  controlled to some degree by human operators
• teleoperator
• robotic devices that synergistically combine
  human and machine.
• operator replication metaphor
• provide display and control systems through which
  the human operator observes and controls the
  robot in an attempt to replicate the operators
  motor and cognitive capabilities at the remote
  site.
• telepresence - 3 definitions
• simple - the ability to operate in a remote
  world
• cybernetic- an index of the quality of the
  human-machine interface
• experiential - a mental state in which a user
  feels physically present within the remote world.

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Applications

• Remote manipulation
• undersea
• planetary
• Hazardous manipulation
• hazardous materials
• hazardous environments

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Teleoperation tasks

• The tasks involved in teleoperation include a mix
  of ...
• programming
• teaching
• controlling
• commanding
• monitoring
• Depending on the location and nature of the task,
  issues involve
• level of control
• time delays
• situation awareness (including depth perception
  and image quality)
• force proprioceptive feedback

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Level of control
adapted from lthttp//www.ornl.gov/rpsd/humfac/pag
e01d00.htmlgt
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Time delays

• Transmission delays
• information from remote site
• control action and response
• Sluggish response of system being controlled
• Time to translate control actions into
  appropriate machine activities

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Situation awareness (telepresence)

• Depth perception
• 3D stereoscopic displays
• display enhancements
• Image quality
• improving camera / display technology
• enhanced image
• Field of view
• wide angle lens / large display
• scanning
• Absolute vs relative judgements of distance,
  size, etc.
• display aiding
• control aiding
• virtual reality technology

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Force proprioceptive feedback

• Control force and speed of movement of telerobot
• 1st and 2nd order control issues
• Proprioceptive feedback - force reflection
• magnitude of forces or torques acting on an
  object - kinesthetic
• distribution of forces on the manipulator -
  tactile
• Advantages
• when forces applied to the remote area are
  important (e.g., to prevent damage to telerobot
  or the objects being manipulated)
• when visual display of task components require
  guidance or assembly in areas are obscured for
  some reason
• Disadvantages
• Requires additional processing, increasing delays
• Increases system friction and inertia, reducing
  responsiveness

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HF Design of teleoperated systems

• Understand the requirements, constraints, and
  environmental factors
• Model the system, task, and environment
• Determine the information and action requirements
  (including level of control) of the operator
• Based on an understanding of the system, task,
  and environment
• Determine appropriate displays, controls, and
  aiding
• Based on an understanding of human cognitive,
  information processing, and response, as well as
  design guidelines and issues
• Understand the tradeoffs involved.

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Ecological Approaches

• Appropriate for design of systems to support
  human operators in complex, dynamic environments.
• Founded on ecological psychology
• Simons Ant example
• Contrast with cognitivist approaches
• Requires understanding of the system and
  environment within which the operator is working.

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Ecological Interface Design (EID)

• Based on the SRK taxonomy
• Focus is on environmental constraints and system
  function

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Understanding Work Abstraction Hierarchy
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Using the AH in Interface Design
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An Example

• DURESS (DUal REservoir Simulation System)
• Process control example
• Small feedwater stream
• 6 valves, 2 pumps, 2 heaters

(from Vicente, K.J. and Rasmussen, J. (1990) The
ecology of human machine systems II Mediating
direct perception in complex work domains.
Ecological Psychology, 2(3), pp.207-249)
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DURESS (cont.)
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DURESS Standard Configuration
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DURESS Redesign Based on EID
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