IN-ORBIT ASSEMBLY:ROBUST AUTONOMOUS METHODSFOR CONTROLLING ROBOT MANIPULATORS IN SPACE

该博士将专注于在制造过程中设计人类和机器人之间的共享自主方法，通过将大部分细粒度操作委托给机器人来克服延迟通信的挑战，而人类操作员远程协调和监督任务。机器人远程操作可以作为制造灵活性的管道。因此，这个博士将考虑虚拟和混合现实方法的进步，以实现远程机器人操作的最流畅体验。它还将专注于开发用于细粒度操作和组装的机器学习方法，以最大限度地减少人类输入和用户认知压力。后者将允许机器人在连接断开或任务重复或简单的情况下自主执行。该博士项目将与国家制造研究所合作开发灵活的机器人，以最小的努力和投资重新配置供应链。

This PhD will focus on devising a shared autonomy approach between the human and the robot in manufacturing processes, overcoming the challenges of delayed communication by delegating most of the fine-grained manipulation to the robot while the human operator orchestrates and supervise the task remotely. Robotic teleoperation can serve as the conduit for flexibility in manufacturing. Therefore, this PhD will consider the advancements in virtual and mixed reality approaches to enable the smoothest experience for remote robotic operation. It will also focus on developing machine learning approaches for fine-grained manipulation and assembly to minimize human input and user cognitive strain. The latter will allow the robot to perform autonomously should the connection drop or should the task be repetitive or straightforward. This PhD project will be in collaboration with the National Manufacturing Institute to develop flexible robots that allow the reconfiguration of supply chains with minimal effort and investment.