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Smart Healthcare in Smart Cities
Published in Lavanya Sharma, Towards Smart World, 2020
Small-sized, in-body robots provide significant improvement for a distance control of operations. Typically, the several millimeters-sized robots are equipped with a camera, which can quickly access the peritoneal cavity over a minor incision moving around the place of teleoperation without tissue damages. Some of them are self-organizing robots moved by exterior magnets. The average latency in their applications in very far distances is less than 400 ms. The primary problem with remote teleoperation is unsatisfied internet infrastructure because of precise and harmonized sensory feedback, which is crucial for efficient telesurgical treatment. The continual progress of internet broadcasting is crucial in a substantial decrease of normal latencies because it tends to be in the reduction of latency of 20 s, and less with an extreme value of about 2 s [71].
Designing for Telepresence: The Delft Virtual Window System
Published in Peter Hancock, John Flach, Jeff Caird, Kim Vicente, Local Applications of the Ecological Approach to Human-Machine Systems, 2018
The following definitions of teleoperation and telepresence were adapted from Sheridan (1989a). A teleoperator includes at the minimum artificial sensors, arms and hands, a vehicle to carry these, and communication channels to and from the human operator. The term teleoperation refers to direct and continuous human control of the teleoperator. Teleoperation problems can be distinguished in four broad categories: (a) telesensing, including vision, resolved force, touch, kinesthesis, proprioception, and proximity; (b) teleactuating, combining motor actuation with sensing and decision making; (c) computer aiding in human supervision of a teleoperator; and (d) meta-analysis of the human-computer teleoperator task interaction. This chapter is limited to telesensing, and more specifically to depth television, from a meta-analytical point of view. Telepresence, then, is the ideal of sensing sufficient information about the teleoperator and task environment and communicating this to the human operator in a sufficiently natural way, so that the operator feels physically present at the remote site.
Human Machine Interaction
Published in Aman Behal, Warren Dixon, Darren M. Dawson, Bin Xian, Lyapunov-Based Control of Robotic Systems, 2009
Aman Behal, Warren Dixon, Darren M. Dawson, Bin Xian
Another fascinating area which involves human-machine interaction is teleoperator systems. A teleoperator system consists of a user interacting with some type of input device (i.e., a master manipulator) with the intention of imparting a predictable response by an output system (i.e., a slave manipulator). Practical applications of teleoperation are motivated by the need for task execution in hazardous environments (e.g., contaminated facilities, space, underwater), the need for remote manipulation due to the characteristics of the object (e.g., size and mass of an object, hazardous nature of the object), or the need for precision beyond human capacity (e.g., robotic assisted medical procedures). In the past few years, significant research has been aimed at the development and control of teleoperator systems due to both the practical importance and the challenging theoretical nature of the human-robot interaction problem. The teleoperator problem is theoretically challenging due to issues that impact the user’s ability to impart a desired motion and a desired force on the remote environment through the coupled master-slave system. Some difficult issues include the presence of uncertainty in the master and slave dynamics, the ability to accurately model or measure environmental and user inputs to the system, the ability to safely reflect desired forces back to the user while mitigating other forces, and the stability of the overall system (e.g., as stated in [34], a stable teleoperator system may be destabilized when interacting with a stable environment due to coupling between the systems).
Designing Gaze-Based Interactions for Teleoperation: Eye Stick and Eye Click
Published in International Journal of Human–Computer Interaction, 2023
Jiaye Cai, Xianliang Ge, Yu Tian, Liezhong Ge, Hongqi Shi, Huagen Wan, Jie Xu
Teleoperation is defined as using a system to operate a machine (e.g., drones, robotic arms) at a distance by wireless signals (e.g., Wi-Fi, GPS) (Fong & Thorpe, 2001; Yu, Lin, et al., 2014). Teleoperation systems have been widely used for navigation on the ground (González et al., 2021; Koh et al., 2021), underwater (Delmerico et al., 2019), and in the air (Lester et al., 2017; Schmidt et al., 2012) because they can enable humans to operate in dangerous or difficult-to-reach environments (Fong & Thorpe, 2001). One of the application areas of teleoperation is space exploration (Boboc et al., 2012). For example, a teleoperation scenario with an operator from a spacecraft orbiting a planet controlling a robot on the surface of the planet has been experimented with in the Kontur-2 and Kontur-3 space projects (Riecke et al., 2020). In such teleoperation application scenarios, human–machine interaction (HMI) design and ergonomic issues are some of the most important factors for system performance (Riecke et al., 2020; Chen, 2010). Some scientists have advocated the user-centered design approach to teleoperation interface design (Rea & Seo, 2022).
Task-space synchronisation of nonlinear teleoperation with time-varying delays and actuator saturation
Published in International Journal of Control, 2020
Amir Zakerimanesh, Farzad Hashemzadeh, Mahdi Tavakoli
A bilateral teleoperation system is composed of interconnected local and remote robots, where various signals are exchaned between the two robots via a communication channel. A human operator manipulates the local robot and the controlled coupling between the local and remote robots enables carrying out tasks on a remote environment in which the remote robot operates. The main advantage of a teleoperation system is its capability to provide a stable interaction between the operator and the environment to remotely accomplish tasks in unsafe or hazardous conditions (Arcara & Melchiorri, 2002; Hokayem & Spong, 2006). The aforementioned merits warrant the application of teleoperation systems in areas like outer space manipulation, undersea exploration, and remote medical operation (Hokayem & Spong, 2006; Li, Cao, Tang, Li & Ye, 2013; Rodriguez-Seda et al., 2010; Slawiñski, Mut, Salinas, & García, 2012). The distance between the local and remote robots imposes inevitable communication delays, which candestabilise and degrade the performance of the telerobotic system (Liu & Chopra, 2012b; Richard, 2003).
Steep terrain forest operations – challenges, technology development, current implementation, and future opportunities
Published in International Journal of Forest Engineering, 2019
Raffaele Cavalli, Dzhamal Amishev
One of the most relevant points could be the possibility to introduce the concept of teleoperation using unmanned ground vehicles (Milne et al. 2013). Teleoperation extends the concept of remote control even further where a machine is controlled by an operator at a remote location (no line-of-sight) with the use of cameras, sensors, and possibly additional positioning software (Milliken and Parker 2010). Benefits of teleoperation include safe and comfortable working environment, maintained productivity and extended work-shifts, cables machines with reduced weight and lower center of gravity, opportunity to introduce semi-automation and/or multiple machine operation by a single operator (Milliken and Wood 2016). It is important to note that teleoperation of forestry machinery is a difficult problem, primarily due to the unstructured and uncontrolled environment in which forestry harvesting takes place (Milne 2015). Milne (2015) also reported that autonomous control using Robot Operating System (ROS) and Minimal modeling-based system identification techniques were useful for retrofitting excavator-based forestry harvesters and removing the requirement of operators to operate all the hydraulic rams of the machines. Initial prototypes have already been developed (Figure 2) and prepared for field testing in New Zealand (Milliken and Wood 2016) and now one model is available on the market (ATL, 2019).