Model Based Teleoperation to Eliminate Feedback Delay

显然，需要在海底环境中进行远程作业。典型的任务包括观察和检查，维修有缺陷的海底设备，或恢复丢失的物品。虽然部分工作地点可能是结构化的，但环境是非结构化的（海洋）。此外，施工现场的结构部分可能会损坏或处于未知状态。这种结构的缺乏，以及任务的非重复性，需要不断地适应环境。该计划涉及在远程操作领域的研究与反馈延迟发生在无系绳潜水器的水面远程操作。从远程从臂获取位置和力反馈的延迟使得操作极其困难。一种新颖的图形和机械手编程的结合将远程操作者的主臂与远程环境的图形显示相连接。操作员的动作将被监控，以提供动觉和视觉反馈，并向远程从机生成符号动作命令。这项研究将与位于法国图卢兹的法国LAAS实验室联合进行。

There is a clearly established need to perform work, remotely, in the undersea environment. Typical tasks to be performed will range from observation and inspection to servicing defective undersea equipment, or recovering a lost item. While part of the work site may be structured, the environment is unstructured (the ocean). In addition, the structured part of the work site may be damaged or in unknown condition. This lack of structure, as well as the non-repetitive nature of the tasks, require constant adaptation to the environment. This program involves research in the area of teleoperation with the feedback delay that occurs with surface-based teleoperation in untethered submersibles. The delay in obtaining position and force feedback from remote slave arms makes operation extremely difficult. A novel combination of graphics and manipulator programming will interface the teleoperator master arms to a graphics display of the remote environment. The operator's actions will be monitored to provide both kinesthetic and visual feedback and to generate symbolic motion commands to the remote slave. The research will be performed jointly and in connection with, the French LAAS Laboratory in Toulouse, France.