• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文学位 >Evaluation of an automated three-dimensional compensation algorithm for visual-display misalignment and effects of display formats in three-dimensional telerobot manipulation.
【24h】

Evaluation of an automated three-dimensional compensation algorithm for visual-display misalignment and effects of display formats in three-dimensional telerobot manipulation.

机译：自动化的三维补偿算法的评估，用于视觉显示未对准和三维遥控机器人操纵中的显示格式。

获取原文
获取原文并翻译 | 示例
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

In teleoperation environments, decision-making can be performed by a combination of knowledge-based autonomous procedures, sensor-based autonomous procedures, and/or the human operator. Humans can easily adapt to unpredictability in task environments, due to their superior problem solving skills and perceptual abilities. Therefore, using a human operator to make decisions is beneficial to the manual control of telerobots in real environments.; When a robot is manually controlled in teleoperation, the control input of the operator is transmitted to the robot, and video cameras send visual feedback of the state of the robot to the operator. In this manner, the operator is engaged in the dynamic control of the robot. Some characteristics of this control have disadvantages. The visual feedback of remote manipulation by the video cameras requires a very high communication bandwidth to transmit the video signal. A small communication delay in control feedback deteriorates the teleoperation performance of the operator. The other disadvantage is due to spatial perturbations including depth problems and visual-display incompatibilities. Those perturbations can be reduced by training operators or using graphical aids. However, it usually takes a long time to get satisfying results through training, and most of the time it is very hard for operators to reach a satisfactory level of performance.; The teleoperation visual system needs to provide sufficient visual information to allow various tasks to be accomplished. Understanding the relationship of the manipulator to some fixed reference plane is the basis for spatial orientation, and display-control disorientation can result in degradation of operator performance as well as damage or loss of the manipulator. When multiple cameras or dynamically moving cameras used to the manual operation, depending on the camera view angle, the axes of the manipulator are not aligned with the controller axes. This misalignment causes display-control incompatibility. Under the incompatibility conditions, the performance of the operator might be lower than the performance in compatibility conditions.; In this research, 3-D automatic compensation method for visual-display compatibility was tested to reduce visual-display incompatibilities. Three different display formats with the compensation method in the 3-D method were tested in telerobotic tracking simulation environments. Time-to-completion, robot end-effector traveling distance, collision errors, and subjective mental workload ratings were used to measure teleoperation performances.
机译：在远程操作环境中，可以通过基于知识的自主程序，基于传感器的自主程序和/或操作员的组合来执行决策。人类具有出色的问题解决能力和感知能力，可以轻松地适应任务环境中的不可预测性。因此，使用人工操作人员做出决定有利于在实际环境中手动控制远程机器人。当机器人在遥控操作中被手动控制时，操作员的控制输入被传送到机器人，并且摄像机将机器人状态的视觉反馈发送给操作员。以这种方式，操作者参与了机器人的动态控制。此控件的某些特性有缺点。摄像机远程操纵的视觉反馈需要很高的通信带宽才能传输视频信号。控制反馈中的较小通信延迟会降低操作员的远程操作性能。另一个缺点是由于空间干扰，包括深度问题和视觉显示不兼容性。可以通过培训操作员或使用图形辅助工具来减少这些干扰。但是，通过培训通常需要很长时间才能获得令人满意的结果，并且在大多数情况下，操作员很难达到令人满意的性能水平。远程操作视觉系统需要提供足够的视觉信息以允许完成各种任务。了解机械手与某个固定参考平面的关系是空间方向的基础，显示控制的方向混乱会导致操作员性能下降以及机械手损坏或丢失。当多台摄像机或动态移动摄像机用于手动操作时，根据摄像机的视角，机械手的轴与控制器轴不对齐。这种未对准会导致显示控件不兼容。在不兼容的条件下，操作员的性能可能会低于在兼容条件下的性能。在这项研究中，测试了用于视觉显示兼容性的3-D自动补偿方法，以减少视觉显示的不兼容性。在远程机器人跟踪仿真环境中测试了3-D方法中采用补偿方法的三种不同显示格式。完成时间，机器人末端执行器的行进距离，碰撞错误和主观的心理工作量评定用于衡量远程操作性能。

著录项

  • 作者

    Myung, Seonwan.;

  • 作者单位

    Texas Tech University.;

  • 授予单位 Texas Tech University.;
  • 学科 Engineering Industrial.
  • 学位 Ph.D.
  • 年度 2000
  • 页码 159 p.
  • 总页数 159
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 一般工业技术;
  • 关键词

相似文献

  • 外文文献
  • 中文文献
  • 专利