Hub-based telerobotics
Abstract
HUB-based telerobotics is the study of the design and development of networked telerobots in the HUB environments. In this thesis, collaborative control mechanisms are investigated for more efficient and effective utilization of telerobots in the HUB, compared with conventional networked telerobots. In direct control scheme, an aggregation algorithm is used to integrate multiple control signals from operators for robot control. The aggregation is dynamically adjusted according to operators' performance. In supervisory control scheme, structured collaborative insights management is developed to support innovation idea exchanges and consensus decision-making. In addition, networked agent-based conflict and error prevention is investigated for early conflict/error detections to reduce the risk of damage. Two cases of HUB-based telerobotic systems are implemented in this work. In case study A, networked telerobots are used for a simulated nuclear plant decommissioning through vision-based hand gesture interface. The experiments show that collaborative control is more effective and less susceptible to conflicts/errors than the standard single operator control. The system can reliably recognize operators' hand gestures with a 96% detection rate in cluttered backgrounds. Collaboration between experts and novice operators can reduce the time to complete the multi-step task, compared to a single operator, either an expert or novice. In case study B, a HUB-based telerobot is integrated into a collaborative engineering design system for experimental electronic device (including both hardware and software design). Compared with other collaborative design tools and networked telerobots, the system for collaborative electronics design is an economical and powerful integrated collaboration support system which enhances productivity and sharing of knowledge by collaborative intelligence and innovations by designers.
Degree
M.S.
Advisors
Wachs, Purdue University.
Subject Area
Computer Engineering|Industrial engineering|Robotics
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