Haptic tele-operation of remotely operated vehicles(ROVs)

الموضوعات

علوم تطبيقية وتكنولوجية

الملخص

Remote tele-operation systems are mainly designed for the sole purpose of transferringthe human operators control/manipulation capability to a Remotely OperatedVehicles (ROV) located slave system, to directly interacts with the environment,with the use of a master system by maximizing the telepresence of the operator.The awareness to surrounding environment in teleoperation is reduced as a result ofphysical separation between the human operator and the vehicle. The teleoperatorlacks the existence of various multiplesensory information such as sound, motions,and vibrations of the airframe unlike the pilot onboard of a manned aircraft, whoperceptibly has all of these characteristics. Only visual information, such as cameraimages with limited resolution and view of the field, are usually provided to theoperator and the lower the situation awareness, the less safety the teleoperation is.In this thesis, haptic based bilateral shared autonomous system is designed anddeveloped for a Remotely Operated Vehicle (ROV) in indoor environments. Theproposed control and interface guides the human operator to navigate ROV in orderto control and interact with uncertain indoor environments safely and precisely inthe absence of visual feedback. The bilateral shared control inputs interface for themaster and slave are designed based on both the velocity signals of the ROV andthe scaled position of the local master haptic manipulator. The master input interfacealso combines reflected remote interaction interface between slave and remoteenvironments. The remote interaction force applies to the human operator handsthrough a haptic device providing situational awareness about surrounding environmentof the remotely operated vehicle. In this thesis, we first develop reflectedinput interaction forces generated by using four different force fields as artificialforce field, the basic risk force field, parametric risk field, virtual impedance forcefields modeled as spring model and spring-damper model. Then, we implementedand evaluated the proposed control and interaction interface on unmanned groundvehicle and unmanned micro aerial vehicle in simulation and experimental environment.The evaluation results showed that, compared with an artificial force fieldbased interface, the interface designed by using virtual impedance forces provides better situational awareness about the remote environment guiding the operator tonavigate and control ROV safely and precisely in uncertain indoor environments inthe absence of visual feedback. Date of Award 2015 Original language American English Supervisor Jorge Dias (Supervisor)

روابط وملفات

التعريف والنوع

رقم الوثيقة

0c3ae16c-11d8-43ea-ba08-1170261248ac

رقم العقد

0

نوع الوسائط

Crawler

نوع المحتوى

الرسائل العلمية

صيغة المصدر

رسائل ماجيستير

نوع الملف

pdf text

أسماء الملفات

2283738_1.pdf

بيانات النشر

ألقاب المؤلفين

[{"name_ar":" Jorge Dias ","title_ar":"اشراف","title_en":"Supervision"},{"name_ar":" Lakmal Seneviratne ","title_ar":"اشراف","title_en":"Supervision"},{"name_ar":"Reem K. Ashour","title_ar":"اعداد","title_en":"Preparation"}]

اللغة

English

المصدر والدورية

اسم المصدر

Haptic tele-operation of remotely operated vehicles(ROVs)

المحتوى والصفحات

عدد الصفحات

0

كلمات الباحثين

Haptic tele-operation remotely operated vehicles(ROVs)

إشراف وإعداد

الإشراف

Jorge Dias , Lakmal Seneviratne

الإعداد

Reem K. Ashour

الاقتباسات الببليوغرافية