Supervision in computer-aided teleoperation: an approach based on the description of remote tasks

Philippe Gravez; Herve Le Bars; Raymond Fournier

doi:10.1117/12.142115

26 March 1993 Supervision in computer-aided teleoperation: an approach based on the description of remote tasks

Philippe Gravez, Herve Le Bars, Raymond Fournier

Proceedings Volume 1833, Telemanipulator Technology; (1993) https://doi.org/10.1117/12.142115
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States

Abstract

A Computer Aided Teleoperation (CAT) system provides the human operator with manual, automatic and mixed control modes. With such a system, the human intervenes at an execution level (in manual and mixed modes) and at a supervisory level in order to select, monitor and sequence the implemented control modes. For the latter activity, some aiding is required since the operation of the basic CAT system implies specialized robotic knowledge which is impracticable for the operator to use on-line. A solution to this problem is to assist the human with a computer possessing some description of the task: the computer is thus able to support a high-level man-machine dialogue hiding the execution details. However, a tedious and rigid 'programming' phase is inappropriate as it would jeopardize the flexibility of the teleoperation system. The current paper focuses on remote task description. Based on experiments actually performed with the TAO-2 system in nuclear maintenance and dismantling, we suggest a standard for describing tasks in a way which is relevant both for the human and the computer. We then discuss how such a task description may be generated and refined through process qualification, mission preparation and on-line supervision. We finally outline the influence of this approach on the present design of the TAO-2 supervision system.

Citation Download Citation

Philippe Gravez, Herve Le Bars, and Raymond Fournier "Supervision in computer-aided teleoperation: an approach based on the description of remote tasks", Proc. SPIE 1833, Telemanipulator Technology, (26 March 1993); https://doi.org/10.1117/12.142115

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