Distributed control for tele-operations

Author

Ho, Yeuk Fai ; Masuda, Hideyoshi ; Oda, Hiroshi ; Stark, Lawrence W.

Author_Institution

Telerobotics & Neurol. Units, California Univ., Berkeley, CA, USA

Volume

5

Issue

2

fYear

2000

fDate

6/1/2000 12:00:00 AM

Firstpage

100

Lastpage

109

Abstract

A distributed tele-operating system has been designed and simulated in our laboratory with model-based supervisory control to enable reduced human attendance. Dual sensory feedback channels, top-down image processing, and a global positional system permit robust vehicle pose recovery. The distributed network component design and model three-dimensional display are based on currently available technologies. The most difficult design aspect was to achieve smooth integration between web technologies and the hardware physical entities. Constraints from the remote environment were carefully considered, since the system will be used to build a lava-diverting dam at the base of an active volcano in Japan

Keywords

Global Positioning System; computer vision; computerised navigation; distributed control; feedback; path planning; redundancy; telerobotics; vehicles; DCOM; Global Positioning System; active volcano; distributed control; image processing; lava-diverting dam; model-based control; path planning; pose recovery; redundancy; robustness; supervisory control; teleoperating system; Distributed control; Feedback; Hardware; Humans; Image processing; Laboratories; Robustness; Supervisory control; Three dimensional displays; Vehicles;

fLanguage

English

Journal_Title

Mechatronics, IEEE/ASME Transactions on

Publisher

ieee

ISSN

1083-4435

Type

jour

DOI

10.1109/3516.847083

Filename

847083