Robotic Goal-Based Semi-Autonomous Algorithms Improve Remote Operator Performance,
2010
Wayne State University
Robotic Goal-Based Semi-Autonomous Algorithms Improve Remote Operator Performance, Shawn Hunt
Wayne State University Dissertations
The focus of this research was to determine if reliable goal-based semi-autonomous algorithms are able to improve remote operator performance or not. Two semi-autonomous algorithms were examined: visual servoing and visual dead reckoning. Visual servoing uses computer vision techniques to generate movement commands while using internal properties of the camera combined with sensor data that tell the robot its current position based on its previous position. This research shows that the semi-autonomous algorithms developed increased performance in a measurable way. An analysis of tracking algorithms for visual servoing was conducted and tracking algorithms were enhanced to make them as robust …
Augmented Reality Navigation Interfaces Improve Human Performance In End-Effector Controlled Telerobotics,
2010
Wayne State University
Augmented Reality Navigation Interfaces Improve Human Performance In End-Effector Controlled Telerobotics, Keshav Chintamani
Wayne State University Dissertations
On the International Space Station (ISS) and space shuttles, the National Aeronautics and Space Administration (NASA) has used robotic manipulators extensively to perform payload handling and maintenance tasks. Teleoperating robots require expert skills and optimal performance is crucial to mission completion and crew safety. Degradation in performance is observed when manual control is mediated through remote camera views, resulting in poor end-effector navigation quality and extended task completion times. This thesis explores the application of three-dimensional augmented reality (AR) interfaces specifically designed to improve human performance during end-effector controlled teleoperations. A modular telerobotic test bed was developed for this purpose …
