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Journal articles on the topic 'Teleoperated'

Author: Grafiati

Published: 4 June 2021

Last updated: 5 February 2022

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1

Grushko, Stefan, and Zdenko Bobovský. "Teleoperated Humanoid Robot." Transactions of the VŠB - Technical University of Ostrava, Mechanical Series 62, no. 2 (December 20, 2016): 21–28. http://dx.doi.org/10.22223/tr.2016-2/2015.

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2

Mimura, Yoichi. "Teleoperated Robot (RoboQ II)." Journal of the Robotics Society of Japan 34, no. 9 (2016): 601–2. http://dx.doi.org/10.7210/jrsj.34.601.

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3

McLean, G. F., B. Prescott, and R. Podhorodeski. "Teleoperated system performance evaluation." IEEE Transactions on Systems, Man, and Cybernetics 24, no. 5 (May 1994): 796–804. http://dx.doi.org/10.1109/21.293496.

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4

Myers, S. D. "Surrogate teleoperated vehicle (STV)." IEEE Aerospace and Electronic Systems Magazine 6, no. 7 (July 1991): 3–9. http://dx.doi.org/10.1109/62.89000.

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5

Chung, Long-Yeu. "Remote Teleoperated and Autonomous Mobile Security Robot Development in Ship Environment." Mathematical Problems in Engineering 2013 (2013): 1–14. http://dx.doi.org/10.1155/2013/902013.

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We propose a wireless remote teleoperated and autonomous mobile security robot based on a multisensor system to monitor the ship/cabin environment. By doing this, pilots in charge of monitoring can be away from the scene and feel like being at the site monitoring and responding to any potential safety problems. Also, this robot can be a supplementary device for safety cabin crew members who are very busy and/or very tired of properly responding to crises. This can make one crew member on duty at the cabin a possible option. In fact, when the robot detects something unusual in the cabin, it can also notify the pilot so that the pilot can teleoperate the robot to response to whatever is needed. As a result, a cabin without any crew members on duty can be achieved through this type of robot/system.

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6

Kuwamura, Kaiko, Takashi Minato, Shuichi Nishio, and Hiroshi Ishiguro. "Inconsistency of personality evaluation caused by appearance gap in robotic telecommunication." Interaction Studies 16, no. 2 (November 20, 2015): 249–71. http://dx.doi.org/10.1075/is.16.2.10kuw.

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Compared with other communication media such as cellphones and video chat, teleoperated robots have a physical existence which increases the feeling of copresence. However, the appearance of a teleoperated robot is always the same regardless of the characteristics of its operator. Since people can determine their partner’s personality from his/her appearance, a teleoperated robot’s appearance might construct a personality that confuses the user. Our research focuses on establishing what kind of appearance of the telecommunication media could prevent confusion and increase the feeling of copresence. In this study, we compare the appearance of three types of communication media (nonhuman-like robot, human-like robot, and video chat with a projection of the speaker). The result shows that, in the case of the human-like robot, the consistency of the personality judgment is better than in the case of the nonhuman-like robot. Also, we found that teleoperated robots transmit a more appropriate context-based atmosphere, while the video chat transmits more nonverbal information, such as facial expressions.

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7

Abolhassani, Niki, and Rajni V. Patel. "Teleoperated master-slave needle insertion." International Journal of Medical Robotics and Computer Assisted Surgery 5, no. 4 (May 19, 2009): 398–405. http://dx.doi.org/10.1002/rcs.269.

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8

Buiu, Catalin, Ioan Dumitrache, and Florin Mihai. "COMPLEX BEHAVIORS OF TELEOPERATED ROBOTIS." IFAC Proceedings Volumes 35, no. 1 (2002): 299–304. http://dx.doi.org/10.3182/20020721-6-es-1901.01441.

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9

Kim, Ki Ho, Jongk Wang Lee, Byung Suk Park, and Il Je Cho. "Teleoperated Robotic Cleaning Systems for Use in a Hazardous Radioactive Environment." Applied Mechanics and Materials 394 (September 2013): 441–47. http://dx.doi.org/10.4028/www.scientific.net/amm.394.441.

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We describe the development of teleoperated robotic cleaning systems for use in a highly radioactive zone of a hot-cell. As the hot-cell is active, direct access to the in-cell by human workers is not possible because of the nature of the high radioactivity of spent nuclear fuel. The teleoperated robotic cleaning systems were designed and developed to clean up or decontaminate a contaminated floor of the in-cell in a remote manner, thereby completely eliminating human interaction with hazardous radioactive contaminants. These robotic cleaning systems are classified into two systems depending on the task environment they are applied to - ROCCS (RObotic Contamination Collection System)-I and-II. We present the environmental, functional, mechanical design considerations, controls and capabilities of the developed teleoperated robotic cleaning systems.

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10

YAMAZAKI, RYUJI, SHUICHI NISHIO, KOHEI OGAWA, KOHEI MATSUMURA, TAKASHI MINATO, HIROSHI ISHIGURO, TSUTOMU FUJINAMI, and MASARU NISHIKAWA. "PROMOTING SOCIALIZATION OF SCHOOLCHILDREN USING A TELEOPERATED ANDROID: AN INTERACTION STUDY." International Journal of Humanoid Robotics 10, no. 01 (March 2013): 1350007. http://dx.doi.org/10.1142/s0219843613500072.

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Our research focuses on the social aspects of teleoperated androids as new media for human relationships and explores how they can contribute and encourage people to associate with others. We introduced Telenoid, a teleoperated android with a minimalistic human design, to elementary school classrooms to see how children respond to it. We found that Telenoid encourages children to work cooperatively and facilitates communication with senior citizens with dementia. Children differentiated their roles spontaneously and cooperatively participated in group work. In another class, we applied Telenoid to remote communication between schoolchildren and assisted living residents. The children felt relaxed about continuing their conversations with the elderly and positively participated in them. The results suggest that limited functionality may facilitate cooperation among participants, and varied embodiments may promote the learning process of the association with others, even those who are unfamiliar. We propose a teleoperated android as an educational tool to promote socialization.

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11

Schäfer, Max B., Kent W. Stewart, and Peter P. Pott. "Industrial robots for teleoperated surgery – a systematic review of existing approaches." Current Directions in Biomedical Engineering 5, no. 1 (September 1, 2019): 153–56. http://dx.doi.org/10.1515/cdbme-2019-0039.

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AbstractRobotic assistance in surgical interventions has been shown to improve both the surgical outcome and the surgeon’s performance. However, cost-efficient implementation of such systems in an operating room workflow is not yet resolved. Most of the current approaches use highly specialized and purpose-built robotic components, resulting in large costs. This paper presents an investigation into the usage of off-the-shelf robots as cost-efficient basis for teleoperated surgery. In addition, the modifications required of the robot and/or operating environment to make it suitable for the medical setting are assessed. The considered systems are found via a literature search and the MERODA-database, specifically focusing on systems designed for teleoperated surgery which use industrial robots. Among the 126 telemanipulated systems found, only 10 use industrial robots for surgical procedures. Overall, due to the better availability, reduced costs, and increased performance, current industrial robots should be further considered for new and versatile lowcost approaches to teleoperated surgery.

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12

Nishio, Shuichi, Maryam Alimardani, and Hiroshi Ishiguro. "Body Ownership Transfer to Teleoperated Android." Journal of the Robotics Society of Japan 31, no. 9 (2013): 854–57. http://dx.doi.org/10.7210/jrsj.31.854.

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13

Hayashi, Kouki, Takayuki Tamura, Minoru Takahata, and Minoru Etoh. "Mobile Communication Module for Teleoperated Robot." Journal of the Robotics Society of Japan 26, no. 3 (2008): 277–83. http://dx.doi.org/10.7210/jrsj.26.277.

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14

Birk, Andreas, and Holger Kenn. "Roboguard, A Teleoperated Mobile Security Robot." IFAC Proceedings Volumes 34, no. 9 (July 2001): 247–52. http://dx.doi.org/10.1016/s1474-6670(17)41713-7.

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15

Hoyer, Helmut, Andreas Jochheim, Christof Röhrig, and Andreas Bischoff. "Multiuser Environment for a Teleoperated Laboratory." IFAC Proceedings Volumes 34, no. 9 (July 2001): 503–7. http://dx.doi.org/10.1016/s1474-6670(17)41758-7.

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16

SU, Jian-Bo, and Wei ZHOU. "Adjustable Autonomy for Teleoperated Internet Robots." Acta Automatica Sinica 36, no. 7 (August 3, 2010): 982–92. http://dx.doi.org/10.3724/sp.j.1004.2010.00982.

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17

Birk, Andreas, and Holger Kenn. "RoboGuard, a teleoperated mobile security robot." Control Engineering Practice 10, no. 11 (November 2002): 1259–64. http://dx.doi.org/10.1016/s0967-0661(02)00088-6.

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18

Allard, Margaret, Joshua Shubert, and Muyinatu A. Lediju Bell. "Feasibility of photoacoustic-guided teleoperated hysterectomies." Journal of Medical Imaging 5, no. 02 (February 8, 2018): 1. http://dx.doi.org/10.1117/1.jmi.5.2.021213.

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19

Tafazoli, S., S. E. Salcudean, K. Hashtrudi-Zaad, and P. D. Lawrence. "Impedance control of a teleoperated excavator." IEEE Transactions on Control Systems Technology 10, no. 3 (May 2002): 355–67. http://dx.doi.org/10.1109/87.998021.

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20

Kress, R. L., W. R. Hamel, P. Murray, and K. Bills. "Control strategies for teleoperated Internet assembly." IEEE/ASME Transactions on Mechatronics 6, no. 4 (2001): 410–16. http://dx.doi.org/10.1109/3516.974854.

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21

Takahashi, Yoshihiko, and Shunsuke Isonuma. "Robot system teleoperated from home page." Proceedings of Conference of Kanto Branch 2003.9 (2003): 139–40. http://dx.doi.org/10.1299/jsmekanto.2003.9.139.

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22

Ellis, Linda U., Valerie K. Sims, Matthew G. Chin, Jeremy D. Ellis, Lisa J. Upham, and Sheana R. Jannone. "Perception and Displays for Teleoperated Robots." Proceedings of the Human Factors and Ergonomics Society Annual Meeting 52, no. 19 (September 2008): 1618–21. http://dx.doi.org/10.1177/154193120805201966.

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23

Wirz, R., R. Marin, M. Ferre, J. Barrio, J. M. Claver, and J. Ortego. "Bidirectional Transport Protocol for Teleoperated Robots." IEEE Transactions on Industrial Electronics 56, no. 9 (September 2009): 3772–81. http://dx.doi.org/10.1109/tie.2009.2025291.

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24

Das, H., and P. Fiorini. "Integrated tools for teleoperated satellite repair." Automation in Construction 2, no. 1 (June 1993): 81–89. http://dx.doi.org/10.1016/0926-5805(93)90037-x.

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25

Tang, Tito, Frederic Chucholowski, and Markus Lienkamp. "Teleoperated driving basics and system design." ATZ worldwide 116, no. 2 (January 14, 2014): 16–19. http://dx.doi.org/10.1007/s38311-014-0018-1.

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26

Ponto, Kevin, Falko Kuester, Robert Nideffer, and Simon Penny. "Virtual Bounds: a teleoperated mixed reality." Virtual Reality 10, no. 1 (April 26, 2006): 41–47. http://dx.doi.org/10.1007/s10055-006-0030-x.

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27

Hagengruber, Annette, Ulrike Leipscher, Bjoern M. Eskofier, and Jorn Vogel. "Electromyography for Teleoperated Tasks in Weightlessness." IEEE Transactions on Human-Machine Systems 51, no. 2 (April 2021): 130–40. http://dx.doi.org/10.1109/thms.2020.3047975.

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28

Ben-Porat, Ori, Moshe Shoham, and Joachim Meyer. "Control Design and Task Performance in Endoscopic Teleoperation." Presence: Teleoperators and Virtual Environments 9, no. 3 (June 2000): 256–67. http://dx.doi.org/10.1162/105474600566781.

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Endoscopic surgery, while offering considerable gains for the patient, has created new difficulties for the surgeon. One problem is the fulcrum effect, which causes the movement of a surgical instrument, as seen on the monitor, to be in the opposite direction to the movement of the surgeon's hand. The problem has been shown to impede the acquisition of endoscopic skills. Teleoperated robotic arms may circumvent this problem by allowing different control-response relations. Four alternative control designs of a teleoperated device were compared in a simulated endoscopic task. A rigid teleoperated robotic arm with two degrees of freedom representing a surgical tool was coupled to a joystick in a position control mode. Feedback was provided through a video display. Participants without prior experience in endoscopy performed a target acquisition task, first by pointing the robotic arm at the targets, and later by maneuvering an object. Performance was measured under four different combinations of visual-motor mapping (normal/reversed), and the joystick's orientation (upwards/downwards). Task completion time under normal visual-motor mapping was found to be significantly shorter than under reversed visual-motor mapping, emphasizing the potential advantage of a teleoperated endoscopic system. The joystick's orientation affected the maneuvering of an object under only the reversed visual-motor mapping, implying that the positioning of a surgical tool and the manipulation of tissues or objects with the tool may be differentially affected by the control design.

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29

Hopper, David, Cliff Boddy, and Dennis Reilly. "Technical Note: Advanced teleoperation testbed—A system you can see through." Robotica 14, no. 4 (July 1996): 457–61. http://dx.doi.org/10.1017/s0263574700019871.

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SUMMARYTo remove humans from hazardous environments “good” teleoperated robotic systems are needed. “Good” is defined here to mean a system which is task centred and which is transparent to the user-in other words, a system you can see through. A teleoperated robotic system which strives towards this goal is described by way of illustration. The fundamentals that have helped to achieve this are: design and build from a task centred viewpoint, careful design of the Human Computer Interface(HCI) and special consideration for the systems integration task.

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30

He, Qiang, Yufen Wu, Zhiping Feng, Wenjing Fan, Zhiwei Lin, Chenchen Sun, Zhihao Zhou, Keyu Meng, Wenzhuo Wu, and Jin Yang. "An all-textile triboelectric sensor for wearable teleoperated human–machine interaction." Journal of Materials Chemistry A 7, no. 47 (2019): 26804–11. http://dx.doi.org/10.1039/c9ta11652d.

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31

Mirinejad, Hossein, Paramsothy Jayakumar, and Tulga Ersal. "Modeling Human Steering Behavior During Path Following in Teleoperation of Unmanned Ground Vehicles." Human Factors: The Journal of the Human Factors and Ergonomics Society 60, no. 5 (April 17, 2018): 669–84. http://dx.doi.org/10.1177/0018720818769260.

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Objective: This paper presents a behavioral model representing the human steering performance in teleoperated unmanned ground vehicles (UGVs). Background: Human steering performance in teleoperation is considerably different from the performance in regular onboard driving situations due to significant communication delays in teleoperation systems and limited information human teleoperators receive from the vehicle sensory system. Mathematical models capturing the teleoperation performance are a key to making the development and evaluation of teleoperated UGV technologies fully simulation based and thus more rapid and cost-effective. However, driver models developed for the typical onboard driving case do not readily address this need. Method: To fill the gap, this paper adopts a cognitive model that was originally developed for a typical highway driving scenario and develops a tuning strategy that adjusts the model parameters in the absence of human data to reflect the effect of various latencies and UGV speeds on driver performance in a teleoperated path-following task. Results: Based on data collected from a human subject test study, it is shown that the tuned model can predict both the trend of changes in driver performance for different driving conditions and the best steering performance of human subjects in all driving conditions considered. Conclusions: The proposed model with the tuning strategy has a satisfactory performance in predicting human steering behavior in the task of teleoperated path following of UGVs. Application: The established model is a suited candidate to be used in place of human drivers for simulation-based studies of UGV mobility in teleoperation systems.

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32

Kondo, Daisuke, Hiroshi Yoshinada, Takanobu Tanimoto, and Keita Turashiki. "Motion Parallax Display System for Teleoperated Construction Machine." Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM 2015.6 (2015): 117–18. http://dx.doi.org/10.1299/jsmeicam.2015.6.117.

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33

DING, Jienan. "REALTIME CONTROL ALGORITHM FOR TELEOPERATED SURGERY ROBOT." Chinese Journal of Mechanical Engineering 42, no. 12 (2006): 163. http://dx.doi.org/10.3901/jme.2006.12.163.

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34

Nagano, Tatsuki, Ryosuke Yajima, Shunsuke Hamasaki, Keiji Nagatani, Alessandro Moro, Hiroyuki Okamoto, Genki Yamauchi, Takeshi Hashimoto, Atsushi Yamashita, and Hajime Asama. "Arbitrary Viewpoint Visualization for Teleoperated Hydraulic Excavators." Journal of Robotics and Mechatronics 32, no. 6 (December 20, 2020): 1233–43. http://dx.doi.org/10.20965/jrm.2020.p1233.

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In this paper, we propose a visualization system for the teleoperation of excavation works using a hydraulic excavator. An arbitrary viewpoint visualization system is a visualization system that enables teleoperators to observe the environment around a machine by combining multiple camera images. However, when applied to machines with arms (such as hydraulic excavators), a part of the field of view is shielded by the image of the excavator’s arm; hence, an occlusion occurs behind the arm. Furthermore, it is difficult for teleoperators to understand the three-dimensional (3D) condition of the excavating point because the current system approximates the surrounding environment with a predetermined shape. To solve these problems, we propose two methods: (1) a method to reduce the occluded region and expand the field of view, and (2) a method to measure and integrate the 3D information of the excavating point to the image. In addition, we conduct experiments using a real hydraulic excavator, and we demonstrate that an image with sufficient accuracy can be presented in real-time.

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35

Abualhaol, Ibrahim Y., and Mustafa M. Matalgah. "Throughput Optimization of Cooperative Teleoperated UGV Network." International Journal of Mobile Computing and Multimedia Communications 1, no. 4 (October 2009): 32–46. http://dx.doi.org/10.4018/jmcmc.2009072803.

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Cooperative communications among group of teleoperated unmanned ground vehicles (UGVs) allows to exploit spatial diversity in wireless fading channels by relaying signals between each other. Due to the high speed of the UGVs, the nature of the channel environments and the possible co-channel interference, the effect of multipath propagation and the Doppler spread are more pronounced. In this article, we proposed a low complexity dynamic channel assignment (DCA) technique with adaptive modulation and coding (AMC) strategy to allocate the available bandwidth over a number of communications links in a cooperative UGV network. In many processing algorithms and transmission protocols reported in the literature, performance improvement in terms of system throughput and reliability has been demonstrated. The proposed DCA with AMC in a cooperative UGV network has two objectives. First, to maximize the overall throughput of the cooperative UGV network and second, to significantly reduce the probability of outage in the system. In this article, the outage is defined as the percentage of time the links are incapable of supporting a minimum required transmission rate which is determined by the application. The DCA approach is formulated in terms of a binary optimization problem that is solved using the branch-and-bound method. The authors assum the links in the network to be Rayleigh faded and we used a finite state Markov chain (FSMC) for their modeling. Using Monte Carlo simulation, we showed that the proposed DCA approach in a cooperative UGVs provides significant gain in the overall throughput and reduction in the outage probability compared to the static channel assignment (SCA).

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36

Cabral Jr, Eduardo I. Cabral Jr. "Kinect-based Teleoperated Pseudo-Anthropomorphic Robotic Arm." International Journal of Advanced Trends in Computer Science and Engineering 8, no. 5 (October 15, 2019): 2240–45. http://dx.doi.org/10.30534/ijatcse/2019/59852019.

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37

Mallem, M., F. Chavand, and E. Colle. "Computer-assisted visual perception in teleoperated robotics." Robotica 10, no. 2 (March 1992): 93–103. http://dx.doi.org/10.1017/s0263574700007517.

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SUMMARYDue to the complexity of teleoperation tasks, human operators figure in the teleoperator perception-decision-control loop. The operator needs an interactive system to handle the huge flow of data between himself and the teleoperator.The scene represented by the robot and its environment is viewed by one or more cameras. However, the video image may be degraded in extreme environments (underwater, space, etc.) or simply inadequate (2-D image).In this paper we describe the visual perception aids based of the scene, and more specifically how these are generated by the method we put forward. The system developed at the LRE superimposes a 3-D synthetic image onto the video picture, and animates the scene in real-time on the basis of sensor information feedback. The graphic image can be generated from models, if the objects are known, otherwise interactively, with the cooperation of the operator if the objects are completely unknown. Experiments show that these graphic aids improve the operator's performance in task execution.

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38

McIntyre, M., W. Dixon, D. Dawson, and E. Tatlicioglu. "Passive coordination of nonlinear bilateral teleoperated manipulators." Robotica 24, no. 4 (January 3, 2006): 463–76. http://dx.doi.org/10.1017/s026357470500247x.

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Significant research has been aimed at the development and control of teleoperator systems due to both the practical importance and the challenging theoretical nature of the problem. Two controllers are developed in this paper for a nonlinear teleoperator system that target coordination of the master and slave manipulators and passivity of the overall system. The first controller is proven to yield a semi-global asymptotic result in the presence of parametric uncertainty in the master and slave manipulator dynamic models. The second controller yields a global asymptotic result despite unmeasurable user and environmental input forces. To develop each controller, a transformation encodes the coordination and passivity objectives in the closed loop system. The coordinated system is forced to track a dynamic system to assist in meeting all control objectives. Finally, continuous nonlinear integral feedback terms are used to accommodate for incomplete system knowledge for both controllers. Lyapunov-based techniques are used to prove that all control objectives are met and that all signals are bounded.

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39

Chucholowski, Frederic, Tito Tang, and Markus Lienkamp. "Teleoperated Driving Robust and Secure Data Connections." ATZelektronik worldwide 9, no. 1 (February 2014): 42–45. http://dx.doi.org/10.1365/s38314-014-0226-x.

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40

Nisky, Ilana, Assaf Pressman, Carla M. Pugh, Ferdinando A. Mussa-Ivaldi, and Amir Karniel. "Perception and Action in Teleoperated Needle Insertion." IEEE Transactions on Haptics 4, no. 3 (July 2011): 155–66. http://dx.doi.org/10.1109/toh.2011.30.

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41

Boukhnifer, Moussa, Ahmed Chaibet, and Cherif Larouci. "Passivity Based Control of Teleoperated Electric Vehicle." Journal of Asian Electric Vehicles 9, no. 1 (2011): 1483–90. http://dx.doi.org/10.4130/jaev.9.1483.

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42

Abouaf, J. "Trial by fire: teleoperated robot targets Chernobyl." IEEE Computer Graphics and Applications 18, no. 4 (1998): 10–14. http://dx.doi.org/10.1109/38.689654.

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43

Sabater, José M., Roque J. Saltarén, Rafael Aracil, Eugenio Yime, and José M. Azorín. "Teleoperated parallel climbing robots in nuclear installations." Industrial Robot: An International Journal 33, no. 5 (September 2006): 381–86. http://dx.doi.org/10.1108/01439910610685052.

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44

Suzuki, Hiroyuki, and Robert J. Wood. "Origami-inspired miniature manipulator for teleoperated microsurgery." Nature Machine Intelligence 2, no. 8 (July 27, 2020): 437–46. http://dx.doi.org/10.1038/s42256-020-0203-4.

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45

Moczulski, Wojciech, Marcin Januszka, Wawrzyniec Panfil, Piotr Przystałka, Mirosław Targosz, and Wojciech Skarka. "Teleoperated multi-robot group for technical inspections." Pomiary Automatyka Robotyka 18, no. 5 (May 15, 2014): 134–39. http://dx.doi.org/10.14313/par_207/134.

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46

ITO, Masaru, Toshio TSUJI, Yuichi KURITA, Seiji SAIKI, and Yoichiro YAMAZAKI. "Teleoperated Excavator System with Seat Vibration Feedback." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018 (2018): 2A2—B03. http://dx.doi.org/10.1299/jsmermd.2018.2a2-b03.

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47

Nishio, Shuichi, Koichi Taura, Hidenobu Sumioka, and Hiroshi Ishiguro. "Teleoperated Android Robot as Emotion Regulation Media." International Journal of Social Robotics 5, no. 4 (July 2, 2013): 563–73. http://dx.doi.org/10.1007/s12369-013-0201-3.

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48

Schitz, Dmitrij, Gaetano Graf, Dominik Rieth, and Harald Aschemann. "Corridor-Based Shared Autonomy for Teleoperated Driving." IFAC-PapersOnLine 53, no. 2 (2020): 15368–73. http://dx.doi.org/10.1016/j.ifacol.2020.12.2351.

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49

Lee, Hyung Joo, and Sigrid Brell-Cokcan. "Cartesian coordinate control for teleoperated construction machines." Construction Robotics 5, no. 1 (February 22, 2021): 1–11. http://dx.doi.org/10.1007/s41693-021-00055-y.

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AbstractDespite the continuous development of the hardware, most construction machines are exclusively teleoperated limiting the control to a single paradigm. The operators usually have to move different joints of the machine in a coordinated way solely relied on their experiences leading to reduced local accuracy and work efficiency. Automation of construction machinery can open up new possibilities to improve efficiency and safety during the construction process. This work introduces a generic method that can adapt construction machines that have been already used in the field for decades, so that a more intuitive and versatile control paradigm can be allowed. We introduce the system architecture with the necessary hardware extension and the closed-loop inverse kinematic based motion controller implemented in a visual programming environment. In contrast to existing works, which are mostly based on developing entirely new systems, an autonomous machine suited for construction sites and other hazardous environments can be obtained at a reduced effort. Because of its low cost and generality, this approach can be widely utilized in construction industries opening possibilities for a combination of the advanced robotics technology with proven machines from construction sites. We present our first prototype system based on a BROKK 170 demolition machine and highlight its capabilities but also the inherent limitations of the proposed method.

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Rice, John R., John P. Yorchak, and Craig S. Hartley. "Planning for Unanticipated Satellite Servicing Teleoperations." Proceedings of the Human Factors Society Annual Meeting 30, no. 9 (September 1986): 870–74. http://dx.doi.org/10.1177/154193128603000904.

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Abstract:

The role that man will play in the space-based servicing of satellites will change with standardization and automation of such operations. This change will permit man to dedicate more of his time in space to tasks that require his unique intellectual, manipulative, and perceptual abilities. However, if history is any indication, man cannot be completely removed from servicing duties because unanticipated servicing operations occasionally will require his direct intervention and control through either extra-vehicular activities (EVA) or teleoperations. As a result, certain minimum user-system interface capabilites must be maintained, no matter how sophisticated future technology becomes. This paper discusses research related to some of the basic human factors problems that will probably always have an impact on space-based teleoperated servicing operations. The implicit warning is that future advanced systems must implement solutions to these problems if humans are to provide effective backup support. Furthermore, the authors believe that there are several critical gaps in our present knowledge of teleoperator human factors that must be closed before such backup operations can be effective. There is a danger that system developers may become so enamored of advanced teleoperator technology that they may fail to provide an adequate user/system interface for backup operations. Human factors issues discussed include: vision systems, control devices and communication time delays. Each issues section concludes with a list of suggested research topics that address gaps in our present knowledge about teleoperator human factors.

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