Haptic Support for Bi-manual Control of a Suspended Grab for Deep-Sea Excavation
Haptic Support for Bi-manual Control of a Suspended Grab for Deep-Sea Excavation
复制标题
用于深海挖掘的悬挂抓斗的双手控制的触觉支持
DOI：
10.1109/smc.2013.314
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发表时间：
2013
期刊：
影响因子：
--
通讯作者：
D. Abbink
中科院分区：
文献类型：
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作者：
R. J. Kuiper;Jan C. L. Frumau;F. V. D. Helm;D. Abbink
深海采矿是应对稀土金属需求快速增长和传统矿山供应减少的一种设想解决方案。它可能包括一个液压驱动的悬挂抓斗，从海底挖掘富含金属的矿物。由于环境的不确定性，这样的操作不能自动化，因此应该通过远程操作来控制，而远程操作传统上受到性能不佳和情况感知有限的影响。为了提高深海采矿抓斗的控制水平，本文提出了两种动态反馈方法：自然力反馈和动态共享控制。提供自然力反馈以提高系统的透明度，并提出了提高操作态势感知的假设。其次，假设在提供共享控制时，通过引导操作人员减少控制工作量。除了个体效应外，两种反馈方法的结合还可以提高操作的整体任务绩效。通过深海采矿模拟实验，研究了这两种动态反馈方法及其组合对操作员控制行为的影响。结果表明，当提供自然力反馈时，情况感知（即控制误差）得到改善，而当提供共享控制时，控制努力（即控制输入）减少。然而，结果表明，两种方法都没有增加任务性能（即开挖岩石产量）。虽然减少控制错误和努力最终会带来长期的性能效益。因此，结合这两种方法是改进抓斗式深海采矿远程操作的最佳动态反馈方法。
Deep-sea mining is an envisioned solution to cope with the fast increasing demand for rare-earth metals and decreasing supplies from conventional mines. It could involve a hydraulically actuated suspended grab to excavate metal-rich minerals from the seabed. Due to environmental uncertainties such an operation cannot be automated and should therefore be controlled by teleoperation, which traditionally suffers from sub optimal performance and limited situation awareness. The current study proposes two methods of hap tic feedback, natural force feedback and hap tic shared control, to improve the control of a grab in deep-sea mining. Natural force feedback is offered to improve the transparency of the system, which is hypothesized to improve situation awareness of the operation. Secondly it is hypothesized to reduce control effort by guiding the operator when offering hap tic shared control. Besides the individual effect, combining both hap tic feedback methods should also improve the overall task performance of the operation. A deep-sea mining simulation experiment is conducted to investigate the effect of these two hap tic feedback methods and their combination on operator control behaviour. The results show improvement of situation awareness (i.e. control errors) when offering natural force feedback and a reduction of control effort (i.e. control inputs) when offering hap tic shared control. However the results do not show an increase of task performance (i.e. excavated rock production) for either method. Although reduction of control error and effort will result eventually in long-term performance benefits. Combining both methods is therefore the best hap tic feedback method for improving a deep-sea mining teleoperation using a grab.