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Proceedings Paper

Telerobotics: Problems In Display, Control And Communication
Author(s): Lawrence Stark; Won-Soo Kim; Frank Tendick; Mitchell Tyler; Blake Hannaford; Wissam Barakat; Olaf Bergengruen; Louis Braddi; Joseph Eisenberg; Stephen Ellis; Steven Ethiar; Denise Flora; Sanjay Gidwani; Ronald Heglie; Nam Heui Kim; Bryan Martel; Mark Misplon; Eric Moore; Steven Moore; An Nguyen; Cecilia Nguyen; Scott Orlosky; Girish Patel; Michael Rizzi; Eric Shaffer; Mitch Sutter; Harris Wong
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Paper Abstract

An experimental telerobotics (TR) simulation is described suitable for studying human operator (H.O.) performance. Simple manipulator pick-and-place and tracking tasks allowed quantitative comparison of a number of calligraphic display viewing conditions. The Ames-Berkeley enhanced perspective display was utilized in conjunction with an experimental helmet mounted display system (HM0IFIt provided stereoscopic enhanced views. Two degree-of-freedom rotations of the head were measured with a Helmholtz coil instrument and these angles used to compute a directional conical window into a 3-D simulation. The vector elements within the window were then transformed by projective geometry calculations to an intermediate stereoscopic display, received by two video cameras and imaged onto the HID mini-display units (one-inch CRT video receivers) mounted on the helmet. An introduced communication delay was found to oroduce decrease in performance. In considerable part, this difficulty could be compensated for by preview control information. That neurological control of normal human movement contains a sampled data period of 0.2 seconds may relate to this robustness of H.0. control to delay. A number of control modes could be compared in this TR simulation, including displacement, rate iiracceleratory control using position and force joysticks. A homeomorphic controller turned out to be no better than joysticks; the adaptive properties of the H.O. can apparently permit quite good control over a variety of controller configurations and control modes. Training by optimal control example seemed helpful in preliminary experiments.

Paper Details

Date Published: 20 February 1987
PDF: 9 pages
Proc. SPIE 0729, Space Station Automation II, (20 February 1987); doi: 10.1117/12.964880
Show Author Affiliations
Lawrence Stark, University of California (United States)
Won-Soo Kim, University of California (United States)
Frank Tendick, University of California (United States)
Mitchell Tyler, University of California (United States)
Blake Hannaford, University of California (United States)
Wissam Barakat, University of California (United States)
Olaf Bergengruen, University of California (United States)
Louis Braddi, University of California (United States)
Joseph Eisenberg, University of California (United States)
Stephen Ellis, University of California (United States)
Steven Ethiar, University of California (United States)
Denise Flora, University of California (United States)
Sanjay Gidwani, University of California (United States)
Ronald Heglie, University of California (United States)
Nam Heui Kim, University of California (United States)
Bryan Martel, University of California (United States)
Mark Misplon, University of California (United States)
Eric Moore, University of California (United States)
Steven Moore, University of California (United States)
An Nguyen, University of California (United States)
Cecilia Nguyen, University of California (United States)
Scott Orlosky, University of California (United States)
Girish Patel, University of California (United States)
Michael Rizzi, University of California (United States)
Eric Shaffer, University of California (United States)
Mitch Sutter, University of California (United States)
Harris Wong, University of California (United States)


Published in SPIE Proceedings Vol. 0729:
Space Station Automation II
Wun C. Chiou, Editor(s)

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