Telerobotics

Abstract—The paper tackles the problem of designing intuitive graphical interfaces for selecting navigational targets for an autonomous robot. Our work focuses on the design and validation of such a flexible interface for an intelligent wheelchair navigating in a large indoor environment. We begin by describing the robot platform and interface design. We then present results from a user study in which participants were required to select navigational targets using a variety of input and filtering methods. We considered two types of input modalities (point-and-click and single-switch), to investigate the effect of constraints on the input mode. We take a particular look at the use of filtering methods to reduce the amount of information presented onscreen and thereby accelerate selection of the correct option. I.

This paper describes a Virtual Reality (VR) based system for automating data collection and surveying in a retail store using mobile robots. The manpower cost for surveying and monitoring the shelves in retail stores are high, because of which these activities are not repeated frequently causing reduced customer satisfaction and loss of revenue. Further, the accuracy of data collected may be improved by avoiding human related factors. We use a mobile robot platform with on-board cameras to monitor the shelves either autonomously or through tele-operation. A remote operator can control the robot from a console which shows a 3D of view of the store as well as, capture real images and videos of the store. The robot is designed to facilitate automatic detection of Out-of-Stock (OOS) situations. It would be possible for a single operator to control multiple robots placed at different stores thus optimizing the available resources. As the deployment of the proposed system does not require...

Mollon, M., & Gentes, A. (2014). The Rhetoric of Design for Debate: triggering conversation with an “uncanny enough” artefact (pp. 1–13). In the proceedings of the Design Research Society International Consortium (DRS), Umeå, Sweden. (June 18th).
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http://bit.ly/talkDRS14 – PDF presentation
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Abstract: Design exploration research refers to various interaction design research practices that explore tensions issued from the interplay of science, technology, culture and society. Most of them explicitly trigger discussions and debates in the audience, for instance “critical design”, which raised the interest of members of design research communities. However its generalization suffers from a lack of shareable methodology. This paper aims at clarifying it practically and theoretically.
We claim that these practices trigger people’s reactions using a specific narrative strategy which provoke an “uncanny feeling”. By producing “uncanny enough” artefacts that embed a subtle entanglement of familiarity and unfamiliarity, designers can elicit responses from viewers. First, a review of literature on critical design texts presents the “uncanny balance” as being a recurrent design principle for the creation of these artefacts. We then present an exemplary case study produced by one of the authors, exploring communication technology—called Dog&Bone. Using classical rhetoric, we present a theoretical overview of the project. The outcome consists of a conceptual framework based on the narrative dimension of the uncanny plus the rhetorical dimension (composed of three elements: legitimacy, emotions, argumentation). We conclude that Design is a form of communication between designers and their audience.

This paper aims to provide a solution for the blind people to walk safely by detecting obstacle and generating corresponding alert signal according to the distance of the obstacle. The solution is provided by developing a walking assistant embedded in a spectacle glass with an obstacle detection module and an alarm generator. There is only one ultrasonic sensor in the obstacle detection module which can cover 3 meter distance and 60 degree angle to detect the obstacles. The obstacle detection module generates high frequency signal through the ultrasonic sensor and evaluate the echo which is received back by the sensor. Then the distance of the obstacle is measured and this information about the obstacle is delivered to a blind using the alarm generator which generates alarm corresponding to the distance. Experimental studies show that the proposed methodology provides a more cost effective, lesser weighty, simpler walk-in assistant for the blinds than existing dominant work.

We designed and constructed a system that includes aircraft, ground vehicles, and throwable sensors to search a semi-forested region that was partially covered by foliage. The system contained 4 radio-controlled (RC) trucks, 2 aircraft, and 30 SensorMotes (throwable sensors). We also investigated communications links, search strategies, and system architecture. Our system is designed to be low-cost, contain a variety of sensors, and distributed so that the system is robust even if individual components are lost.

ABSTRACT A path-planning algorithm to guide unmanned aerial vehicles (UAVs) for tracking multiple ground targets based on the theory of partially observable Markov decision processes (POMDPs) is presented. A variety of features of interest are shown to be easy to incorporate into the framework by plugging in the appropriate models, which demonstrates the power and flexibility of the POMDP framework. Specifically, it is shown how to incorporate the following features by appropriately formulating the POMDP action space, transition law, and objective function: 1) control UAVs with both forward acceleration and bank angle subject to constraints; 2) account for the effect of wind disturbance on UAVs; 3) avoid collisions between UAVs and obstacles and among UAVs; 4) track targets while evading threats; 5) track evasive targets; and 6) mitigate track swaps.

This paper presents the architecture of the remote access laboratory for experimentation with the Mitsubishi RV-2AJ manipulator robot. This lab has been developed using Java technology, and a client/server approach based on Servlets has been specifically implemented. The lab allows users to control and monitor the robot via Internet using a client application. Through this lab, the user can manipulate the robot to obtain its current status and visual feedback of real-time image. This laboratory also supports education process in the field of robotics; it provides students and researchers with an instant access to real experimental interface.

This work addresses the manipulation and control problems of a teleoperated redundant manipulator. The choice of a benchmark of extremely high requirements is technical aid in catastrophic situations like road accidents, fires and natural disasters. Such scenarios demand intuitive though powerful operation minimizing user fatigue and tension. For this reason, replicating the human motion abilities by the telemanipulator is the main challenge in the presented design. A recently developed 6 degrees of freedom (DoF) haptic input device is used as master arm and an anthropomorphic, human sized 7 DoF manipulator as the slave arm. One of the problems studied here is the connection of two kinematically dissimilar devices working in master-slave configuration with 6 degrees of freedom kinesthetic feedback, issues regarding kinematic control, compliant motion, transparency, and intuitiveness of teleoperation are discussed.

This paper describes low-latency teleoperations (LLT) analyses performed by the NASA Human Spaceflight Architecture Team (HAT), as part of the Evolvable Mars Campaign (EMC). We will cover a variety of mission operations concepts and activities, including task details such as assumptions, sequences, timelines, and potential work systems. We will also present a preliminary task prioritization and potential implications for the Evolvable Mars Campaign and associated technology development.

This paper presents the design concept for a bio-inspired exoskeleton intended for applications in tele-robotics and virtual reality. We based the development on an attentive analysis of the human arm anatomy with the intent to synthesize a system that will be able to interface with the human limb in a natural way. Our main goal is to develop a multi

Middle ear surgery requires micro-surgical techniques and may benefit from robotic assistance. A prototype of tele-operated system is presented. Methods to determine design specifications, kinematic structure and optimization of the micro-manipulator are described. First evaluation of the robot by a stapedial removal through the external auditory meatus in human temporal bone specimens, simulating the surgery of otosclerosis, is presented. In