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  • 1
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    Interactive and cooperative sensing and control for advanced teleoperation (1992)
    In:  Other Sources
    Details
    Publication Date: 2011-08-24
    Description: This paper presents the paradigm of interactive and cooperative sensing and control as a fundamental mechanism of integrating and fusing the strengths of man and machine for advanced teleoperation. The interactive and cooperative sensing and control is considered as an extended and generalized form of traded and shared control. The emphasis of interactive and cooperative sensing and control is given to the distribution of mutually nonexclusive subtasks to man and machine, the interactive invocation of subtasks under the man/machine symbiotic relationship, and the fusion of information and decision-making between man and machine according to their confidence measures. The proposed interactive and cooperative sensing and control system is composed of such major functional blocks as the logical sensor system, the sensor-based local autonomy, the virtual environment formation, and the cooperative decision-making between man and machine. A case study is performed to demonstrate the feasibility of implementing the fundamental theory and system architecture of interactive and cooperative sensing and control, proposed for the new generation of teleoperation.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: In: Sensor fusion IV: Control paradigms and data structures; Proceedings of the Meeting, Boston, MA, Nov. 12-15, 1991 (A93-49438 21-63); p. 516-530.
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    NASA TECHNICAL REPORTS
  • 2
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    Intelligent sensing and control for advanced teleoperation (1993)
    In:  Other Sources
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    Publication Date: 2011-08-24
    Description: A theoretical framework is presented for a 'sensing-knowledge command-fusion' paradigm of interactive and cooperative sensing and control in advanced teleoperators, which takes advantage of both current and projected robotic dexterousness and sensor-based autonomy capabilities. Attention is given to (1) a method for the achievement of a sensing-knowledge-command computational mechanism that implements the intended cooperative/interactive system, and (2) the system architecture and man/machine-interface protocols entailed by this implementation.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: IEEE Control Systems Magazine (ISSN 0272-1708); 13; 3; p. 19-28.
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    NASA TECHNICAL REPORTS
  • 3
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    Interactive and cooperative sensing and control for advanced teleoperation (1993)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: This paper presents the paradigm of interactive and cooperative sensing and control as a fundamental mechanism of integrating and fusing the strengths of man and machine for advanced teleoperation. The interactive and cooperative sensing and control is considered as an extended and generalized form of traded and shared control. The emphasis of interactive and cooperative sensing and control is given to the distribution of mutually nonexclusive subtasks to man and machine, the interactive invocation of subtasks under the man/machine symbiotic relationship, and the fusion of information and decisionmaking between man and machine according to their confidence measures. The proposed interactive and cooperative sensing and control system is composed of such major functional blocks as the logical sensor system, the sensor-based local autonomy, the virtual environment formation, and the cooperative decision-making between man and machine. The Sensing-Knowledge-Command (SKC) fusion network is proposed as a fundamental architecture for implementing cooperative and interactive sensing and control. Simulation results are shown.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: NASA. Lyndon B. Johnson Space Center, The Sixth Annual Workshop on Space Operations Applications and Research (SOAR 1992); p 104-115
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  • 4
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    Man-machine cooperation in advanced teleoperation (1993)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: Teleoperation experiments at JPL have shown that advanced features in a telerobotic system are a necessary condition for good results, but that they are not sufficient to assure consistently good performance by the operators. Two or three operators are normally used during training and experiments to maintain the desired performance. An alternative to this multi-operator control station is a man-machine interface embedding computer programs that can perform some of the operator's functions. In this paper we present our first experiments with these concepts, in which we focused on the areas of real-time task monitoring and interactive path planning. In the first case, when performing a known task, the operator has an automatic aid for setting control parameters and camera views. In the second case, an interactive path planner will rank different path alternatives so that the operator will make the correct control decision. The monitoring function has been implemented with a neural network doing the real-time task segmentation. The interactive path planner was implemented for redundant manipulators to specify arm configurations across the desired path and satisfy geometric, task, and performance constraints.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: NASA. Lyndon B. Johnson Space Center, The Sixth Annual Workshop on Space Operations Applications and Research (SOAR 1992); p 87-93
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