Control Problems in Multi-Modal Telepresence Systems
Control Problems in Multi-Modal Telepresence Systems
复制标题
多模态远程呈现系统中的控制问题
DOI：
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发表时间：
1999
期刊：
影响因子：
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通讯作者：
G. Schmidt
中科院分区：
文献类型：
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作者：
M. Buss;G. Schmidt
在本章中，我们讨论多模式远程呈现和远程动作系统中具有挑战性的控制问题。典型的系统结构由人类操作员、可能遥远的（且不同规模的）远程操作员以及他们之间的各种类型的障碍组成。讨论了在人与系统之间组织和分配控制的基本控制模式。对潜在的应用和支持技术进行了采样。给出了中央控制问题的主观列表，包括多模态控制、时滞影响、本地控制措施、现实世界、虚拟环境（VE）和增强环境交互、感觉替代等。介绍了我们实验室开发的多模态远程呈现和远程动作的实验原型系统，并重点介绍了一些进一步说明典型控制挑战的实验。
In this chapter we discuss challenging control problems in multi-modal telepresence and teleaction systems. The typical system structure consists of a human operator, the possibly distant (and differently scaled) teleoperator and various types of barriers between them. Fundamental control modes to organize and distribute control between human and system are discussed. Potential applications and enabling technologies are sampled. A subjective listing of central control issues is given including multi-modal control, impact of time-delays, local control measures, real world, virtual environment (VE) and augmented environment interaction, sensory substitution, etc. An experimental prototype system for multi-modal telepresence and teleaction developed in our laboratory is presented and some experiments further illustrating typical control challenges are highlighted.