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This paper shows that remote handling procedures are a key task on future fusion power plants. In Madrid, Spain, it is planned to build a singular scientific technical facility for the development of the technologies required for future commercial fusion reactors. One of the areas will be fully dedicated to remote handling for developing and testing tasks where human presence is not allowed. This...
In this paper we present an online algorithm for robustly tracking surgical tools in dynamic environments that can assist a surgeon during in-vivo robotic surgery procedures. The next generation of in-vivo robotic surgical devices includes integrated imaging and effector platforms that need to be controlled through real-time visual feedback. Our tracking algorithm learns the appearance of the tool...
Research so far on adaptive bilateral control of master-slave teleoperation systems considers dynamic uncertainties but stops short of considering kinematic uncertainties. However, when picking up objects of unknown lengths, orientations and gripping points, the overall kinematics of a robot in the teleoperation system becomes uncertain. Therefore, new controllers are required that can guarantee the...
There is ample research on the stabilization of haptic teleoperation systems under communication time delay. Little attention, however, has so far been paid to the usefulness of delayed haptic feedback on task performance. While the usefulness of haptic feedback in no-delay teleoperation has been previously established, this paper investigates whether haptic feedback helps to improve task performance...
The purpose of this report is to propose a diagnosis and treatment scenario by assistance of bystander and echography robot for trauma patient. Quick treatment is important for patients who have shock by internal bleeding. Therefore, focused assessment with sonography for trauma (FAST), which is a simple and quick diagnostic method, was developed as a first lifesaving step in a hospital. However,...
This paper introduces a study aimed to help quantify the benefits of limited-performance force-feedback user input devices for space telemanipulation with a dexterous robotic arm. A teleoperated robotic hand has been developed for the European Space Agency by the German Aerospace Center (DLR) for a lunar rover prototype. Studies carried out on this telerobotic system investigated several criteria...
In the study of Internet-based telerobot system, the aim is at human-machine integration and a BMI-based telerobot system over Internet is proposed using a new method of direct human-machine integration interface: brain-machine interface (BMI). The difference between this system and the traditional Internet-based telerobot system lies in that operators can directly control remote robots just by their...
Tele-operation of robotic platforms has long suffered from the inability of the operator to effectively perform ancillary tasks while controlling the robot. Because of the focus required to perform tele-operation, the operator is limited in their ability to use the robot to improve their situational awareness, with tele-operation often becoming a detriment to their task rather than an enhancement...
For successful deployment, personal robots must adapt to ever-changing indoor environments. While dealing with novel objects is a largely unsolved challenge in AI, it is easy for people. In this paper we present a framework for robot supervision through Amazon Mechanical Turk. Unlike traditional models of teleoperation, people provide semantic information about the world and subjective judgements...
3D data collected by a laser scanner has great potential for robotic applications. Exact geometrical models of the environment surrounding the robot can be created from these point clouds. But, before creating any model, the 3D point cloud has to be segmented and depending on the size and quality of the point cloud, this can be a very challenging task. This article describes a robust 3D scan segmentation...
Underwater vehicles are typically operated using a tether or a slow acoustic link. We present an underwater optical communication system that enables a high-throughput and low-latency link to an underwater robot. The optical link allows the robot to operate in cluttered environments without the need for a tether. We demonstrate the performance of the system in a number of experiments which characterize...
The Time Domain Passivity Control Approach is gathering interest in the robotics field. Simplicity and flexibility and the fact that system design emerges from ideal cases make it a powerful stability tool for teleoperation systems. Communication time delay is an inherent attribute of nearly every realistic teleoperation system. Unless the communication channel guarantees transmission delays of less...
Middle ear surgery requires micro-surgical techniques and may benefit from robotic assistance. A prototype of tele-operated system is presented. Methods to determine design specifications, kinematic structure and optimization of the micro-manipulator are described. First evaluation of the robot by a stapedial removal through the external auditory meatus in human temporal bone specimens, simulating...
This paper describes user studies on a novel remote control manipulatable with stroking its surface. There are lots of remote controls in our houses such as remote controls for TV, air conditioner, and so on. However, when we use a remote control, we need to look at both our fingers and an appliance that we would like to control. It may be not significantly problematic for young people, but elderly...
A remote control robotic system using bilateral control is useful for performing restoration in damaged areas. The system consists of an excavator as the construction robot, and two joysticks for operating the robot from a safe place. A fork glove is equipped with the front end of the excavator as a hand for grasping task objects. The master and the slave in this system correspond to, respectively,...
In this paper, a virtual reality-based construction tele-robot control system is investigated. The system consists of a servo-controlled construction tele-robot, two joysticks for controlling the construction tele-robot, and virtual environment imaging system. The operator performs the teleoperation of the construction tele-robot by manipulating the graphic robot directly in virtual environment using...
This paper reports a wearable tele-echography robot that a bystander could attach to a patient at injury scene. Quick diagnosis and treatment are important for patients who have shock by internal bleeding. Therefore, focused assessment with sonography for trauma (FAST), which is a simple and quick diagnostic method, was developed as a first lifesaving step in a hospital. However, a shock patient has...
This paper presents a remote controlled system for a 2-DOF parallel robot based on networks. The system consists of a server computer, a client computer and a DSP board. The DSP board, which is mounted on the robot, connects to a client computer via a serial port. The client receives encoder readings from the DSP board and transmits them to a server computer over the network. It also receives PID...
This paper presents a case study for identifying security-safety requirements by using safety analysis techniques. In order to construct distributed software-intensive safety-critical systems, it is crucial to identify not only the safety requirements, but also the security requirements simultaneously, due to the fact that security attacks on the communication channels could cause safety consequences,...
This paper proposes a method to simultaneously and coherently present visual and laser sensors information through an augmented reality visualization interface further enhanced by stereoscopic viewing. The use of graphical objects is proposed to represent proximity measurements which are superimposed and suitably aligned to video information through image processing. This new methodology enables an...
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