Research of Human-Machine Fusion in Networked Robotics

我们对这些主题进行了研究，如下所述。(1)明确分布式智能网络设备（DIND）所需要的问题，定义传感器、处理器和网络的功能(2)制作DIND原型，并验证其合理性(3)明确人机界面与机器人联网时存在的问题(4)机器人通信协议（联网）我们定义了标准化协议的必要元素。这使得远程操作的信息易于处理。在此基础上，我们开发了将空间中的人与网络绑定在一起的人机界面，命名为ddd。到目前为止，我们已经用融合网络、处理和CCD相机作为传感器对机器人与空间的协作进行了基础研究。此外，我们还研究了作为DIND函数的人类活动识别。通过这些技术的结合，机器人在一般环境中的应用成为可能。对人工操作时延时的影响进行了评价。为此，采用移动机器人和微型遥控操作系统进行遥控操作，并开发了延时仿真器。根据定量评估的结果，我们提出了人机界面和网络协议。

We have researched on the themes, which are written below.(1) To make clear of problems and to define the functions of sensor, processor and network, which are necessary for Distributed Intelligent Networked Device (DIND)(2) To make prototype of DIND, and to verify its reasonability(3) To make clear of the problems when human interface and robots are connected to network(4) Communication protocol for robots (connection to network)We have defined necessary elements of standardized protocol, which enables information for tele-operation to be treated easily. Based on this, we developed human interface of which name is DIND for binding human in space with network. Until now, we have performed basic research about cooperation between robot and space with fusing network, processing and CCD camera as a sensor. Moreover, we have studied on human activity recognition as a function of DIND. By combining these technologies, it becomes possible that robots are utilized in general environment.We have evaluated influence of time delay when human operator performs tele-operation. For this evaluation mobile robot and micro tele-operation system was used for the tele-operation and time delay emulator was developed. With quantitively evaluated results we proposed human interface and network protocols.