遥作机器人触觉临场感的电触觉实现

本文对电触觉的实现作了实验性研究．提出了在操作者手指上实现触觉再现的电极形状和分布以及刺激电流波形，并由此给出了实现遥作机器人触觉临场感的系统构成及实现方案．该系统可使操作者遥感到从机器人机械手指与点，线，面等形状物体的接触，位置分辨力可达２．２ｍｍ．

遥作机器人系统中的触觉反馈

由于人工智能,传感和控制技术水平的限制,工作在复杂或未知环境下的全自主型机器人是目前难以达到的目标。

面向任务的虚拟环境和人机交互方法研究

基于虚拟现实技术的人机交互方法为面向任务的机器人远程作业研究提供了新的思想和思路 ,增强了机器人系统的遥控作业能力 .本文对机器人系统中虚拟环境和人机交互方法研究进行了综述 ,对虚拟环境中的示教和遥操作进行了评析 。

Design of research platform on telerobot system based on virtual reality technology

A design strategy for a research platform of a telepresence telerobot system based on virtual reality technology is put forward. The design frame of the system is described, and its important core techniques are described. An octrees data structure is utilized to build kinematic and dynamic modeling of the virtual simulation environment, Delphi+OpenGL+3DS MAX are adopted to carry through the virtual modeling and visible simulation exploitation of the slave-robot and its environment. Photo-correction is adopted to correct positioning deviation of the virtual geometric model and modeling errors. The cost of software and hardware equipment for the research platform realized is low. The master/slave robot (manipulator) system and all software in the system were designed and manufactured by our research group. The performance of the system has reached the level required for research. An indispensable experiment base is provided for the research of a telepresence telerobot system based on virtual reality technology.

NEURAL NETWORK SMITH PREDICTIVE CONTROL FOR TELEROBOTS WITH TIME DELAY

A neural network Smith predictive control strategy is proposed to deal with inpu t and feedback time delays in telerobot systems. The delay time is assumed to b e invariant and unknown. The proposed control structure consists of a slave syst em and a master controller. In the slave system, a recurrent neural network (RNN ) with on-line weight tuning algorithm is employed to approximate the dynamics of the time-delay-free nonlinear plant, which is used to linearize the slave s ystem. The master controller is a Smith predictor for the linearized slave syste m, which provides prediction and maintains the desirable tracking performance. S tability propriety is guaranteed based on the Lyapunov method. A simulation of a two-link robotic manipulator is provided to illustrate the effectiveness of th e proposed control strategy.

A robotic tele-drill system over network using predictive display

Based on a robotic telesurgery system whose function is to liberate doctor from X-ray radiation, a robotic tele-drill system is constructed. The system is in client/server structure. Client part includes main control interface, video-audio interface and predictive display interface. Server part includes robot control server and video, audio server. For applying to teleoperation, a virtual reality environment of the system developed by using Java, Java 3D, Pro/E, etc. is established. The geometry and kinematics model of serial robot MOTOMAN sv3x, parallel robot, C-type arm and X-ray machine, surgery bed and its work environment are fulfilled in it. Simulation engine and its simulation syntax are finished, which made the environment controllable. This environment is used as predictive display interface in the telerobotics in order to tackling the problem in visualization feedback as ambiguous or time delay. Experiments that verified feasibility of the system have been done.

Experimental study of Internet telerobotics based on virtual guides

For the virtual environment (VE) to control remote robots through Internet, this paper proposes an operational idea based on virtual guides (VGs). The VGs consist of three types, line VG, plane VG, and body VG, which can greatly enhance the safety and flexibility of the man-machine system. Through the analysis of several common cases, the idea of the VGs are first introduced and described. Second, detailed descriptions of the three VGs are given, and then a uniform representation of all VGs is given. Finally, a typical experiment is designed and implemented according to the modes of video feedback, video&VE feedback, and video&VE&VG feedback. Experimental results show that the operation based on VEs and VGs have significant advantages over that based on video feedback, and VGs can greatly improve the ability of the VE to control remote robots, thus obtaining high and efficient man-machine cooperation.

QoE Assessment in Haptic Teleoperation Systems： Position-Position versus Position-Force

In this paper, we make a comparison of haptic control schemes （position-position and position-force control schemes） for two haptic teleoperation systems by QoE （quality of experience） assessment. One is a remote control system with haptic media and video. In the system, we can write characters by controlling a haptic interface device at a remote place with another haptic interface device while watching video. The other is a remote instruction system with haptic media, video and voice. By using the system, a teacher can actively write characters and teach a student how to write the characters. The student can also write characters actively, and the teacher can confirm how the student writes the characters. We investigate the influences of network delay on QoE for the two systems with the two haptic control schemes.

Safety architecture of internet based multi-robot teleoperation system

Safety subsystem is one of the important parts in robot teleoperation system. In this paper, a safety architecture of safety subsystem in Internet based multi-operator-multi-robot (MOMR) teleoperation system is presented. The subsystem is divided into three layers in its logic architecture: interactive monitor layer, collaborative control layer and real-time control layer. The safety problems and the related strategy are clarified by detailed analysis of each layer and relationship among the layers. So we can obtain a high performance MOMR teleoperation system with multi-layer safety architecture.

Internet based design of distributed virtual environment for multi-robot teleoperation

Studies the design of distributed virtual environments （DVEs） for tele-multi-robotics. The proposed design, incorporating two models （ distributlon-supported model and VE-supported model）, attempts to represent common functionality, communication issues, and requirements found in multi-operator DVEs. The distribution-supported model concentrates on the introduction of computer-supported collaborative work （CSCW） to realize the coordination of multi-operators, while the VE-supported model concentrates on the utilization of an object-oriented approach to strengthen the expandability and robustness of the system. Finally, the configuration anti running environments of the system are given.

A new approach for teleoperation rendezvous and docking with time delay

Teleoperation rendezvous and docking can be used as a backup for autonomous rendezvous and docking (RVD) for an unmanned spacecraft or for guiding the chaser docking with an uncooperative target.The inherent teleoperation time delay is a rigorous problem,especially when the chaser is teleoperated on the ground.To eliminate the effect of time delay,a new approach for teleoperation RVD is studied.The characteristics of teleoperation RVD are analyzed by comparisons with the teleoperation robot and with manually controlled RVD;the relative motion of the chaser is predicted based on the C-W equation;and the processed measure information with time delay through the Kalman filter is utilized to correct the current prediction.Experimental results verify that the approach produces an 18% enhanced success rate of teleoperation RVD compared with direct visual feedback,and consumes less time and fuel.The developed approach also solves the time delay problem effectively.Teleoperation RVD using this method can be applied as a useful backup for autonomous RVD.

Three-layer intelligence of planetary exploration wheeled mobile robots:Robint,virtint,and humint

The great success of the Sojourner rover in the Mars Pathfinder mission set off a global upsurge of planetary exploration with autonomous wheeled mobile robots(WMRs),or rovers.Planetary WMRs are among the most intelligent space systems that combine robotic intelligence(robint),virtual intelligence(virtint),and human intelligence(humint) synergetically.This article extends the architecture of the three-layer intelligence stemming from successful Mars rovers and related technologies in order to support the R&D of future tele-operated robotic systems.Double-layer human-machine interfaces are suggested to support the integration of humint from scientists and engineers through supervisory(Mars rovers) or three-dimensional(3D) predictive direct tele-operation(lunar rovers).The concept of multilevel autonomy to realize robint,in particular,the Coupled-Layer Architecture for Robotic Autonomy developed for Mars rovers,is introduced.The challenging issues of intelligent perception(proprioception and exteroception),navigation,and motion control of rovers are discussed,where the terrains' mechanical properties and wheel-terrain interaction mechanics are considered to be key.Double-level virtual simulation architecture to realize virtint is proposed.Key technologies of virtint are summarized:virtual planetary terrain modeling,virtual intelligent rover,and wheel-terrain interaction mechanics.This generalized three-layer intelligence framework is also applicable to other systems that require human intervention,such as space robotic arms,robonauts,unmanned deep-sea vehicles,and rescue robots,particularly when there is considerable time delay.