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Robotic Telepresence

Robotic Telepresence. Marcelo H Ang Jr, mpeangh@nus,edu.sg & Wong Hong Yang Dept of Mechanical Engineering, National University of Singapore Lim Ser Yong Automation Division, Gintic Institute of Manufacturing Technology. 5 Jan 2001. Background. Robots as “super” tools for humans

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Robotic Telepresence

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  1. Robotic Telepresence Marcelo H Ang Jr, mpeangh@nus,edu.sg & Wong Hong Yang Dept of Mechanical Engineering, National University of Singapore Lim Ser Yong Automation Division, Gintic Institute of Manufacturing Technology 5 Jan 2001

  2. Background • Robots as “super” tools for humans • vs complete autonomy • Tasks unpleasant/unsuitable for humans • hazardous environments • tedious, low-level and high-level skills • Tasks where robots can improve performance • better accuracy and repeatabilty

  3. The Teleoperator

  4. Challenges • Telepresence • as if operator is at remote site • all five senses are available • sight, touch, sound, smell, taste • real-time feedback of sensation • via Internet? • Robotic manipulator with human dexterity

  5. What are the limits in terms of tasks • that can be operated “telepresently”?

  6. 3-D position tracking: Magnetic, Ultrasonic Position tracking or optical sensors Head-Mounted Devices: LCD or CRT, Visual feedback CAVE systems 3-D sound systems Aural feedback Pneumatic or Touch feedback vibrotactile systems Force reflecting Force feedback exoskeletons, gloves Technologies

  7. Haptic Devices* *Phantom devices, Sensable Technologies

  8. Haptics

  9. System Overview

  10. Slave Environment Robot Arm HEM Human Operator Master Environment

  11. Position Tracking using Polhemus FASTRAK Magnetic Position Sensor FASTRAK receiver in HMD FASTRAK receiver on velcro FASTRAK transmitter

  12. 3 translation and 3 rotation data (Euler angles) are obtained (at receiver from transmitter).

  13. Head-Eye Module (HEM, V 1) • Separated into 2 parts: the Eye Module and the Head Module. • Motion provided by servo motors, directly coupled to drive each joint. • Rotation is provided in 2 orientation frame axes (x,y) and 1 reference frame axis (Z) • Motion control provided by a 3 axes motion control ISA bus PC card with user programming library

  14. Eye Module Camera holder “Carriage” Linear guides Leadscrew

  15. Head Module Coincidence of rotating axes

  16. +z +y +x Robot (Slave) Arm and Gripper • Movement is done in tool mode. (Cartesian) • Orientation is defined by a series of 6 numbers (orientation and approach vectors) • A data record of 9 numbers (3 position + 6 orientation values) is passed to the robot controller through RS232 interface from PC.

  17. System In Operation

  18. Robotic Telepresence System, V2

  19. Telepresence with Haptics

  20. Summary • Successful integration of hardware and software components. Only a short period of time is needed for operators to feel immersed and gain skill in operator the robot arm. • Possible applications : The Armed Forces, Underwater dredging and salvage operations, Telesurgery, Education

  21. Future Work • Improved Head Eye Module • vergence control • compact • Inherent delay in Internet

  22. But are the existing Internet Protocols enough for communications between machines? • Remote Monitoring and Control • Machines as Web Controllable Objects • http? ftp? telnet?

  23. architecture Machines Accessed Via Internet Requirements • a system for different machines to be controlled and monitored on different platforms • a system that links up the various software packages available now • an open standard • an object (component) oriented system, OOS Off the shelf components working together (Plug and Play for software and hardware interoperability)

  24. architecture Machines Accessed Via Internet Solution • 2 new layers between objects in the system Machine Command Abstraction (MCA) and Message Communication Protocol (MCP) • MCA bridges the differences between the functional language of different machines (device independent) • MCP defines a standard way of communicating between different objects using text messages (platform independent) • Open Object Oriented Standard

  25. architecture Machines Accessed Via Internet Parallel/Analogy • A MAVI compliant system is just like an FTP system • Any FTP client can connect to any FTP server and send commands and receive feedbacks from the server • Similarly, any device connected to a MAVI compliant server can be controlled and monitored by any MAVI client • User Interface will be independent of device and platform • Can be expanded for data transfer (example between smart agents or feedback sensors)

  26. architecture Machines Accessed Via Internet MCA • The Machine Command Abstraction translate different machine commands that are vendor specific to a standard set of commands • Free programmers from having to rewrite their User Interface for different devices (one UI many devices) • Allows different UIs to be used on a single device (one device many UIs)

  27. MCA - example commands for WCOs • On/Off • axis label 5 m • power label 90% • start/stop • get status • etc.

  28. architecture Machines Accessed Via Internet MCP • The Message Communication Protocol defines a standard language to be used in the TCP/IP pipe • Follows the widely accepted XML format • By formatting all communication messages in the TCP/IP pipe in textual XML format, it makes it easy to understand and implement, platform and programming language independent • Secondary communication pipes can be established in real time through MCP for binary communication and encrypted messages

  29. An Example MCA Vendor ADevice MachineDriver MCP MAVI Server UserInterface InterfaceDriver MAVI Client MCA MachineDriver Vendor BDevice MCP MAVI Server

  30. architecture Machines Accessed Via Internet Features • Designed for the Internet and Intranet. • Based on TCP/IP • Simple but expandable and scalable • Independent of • Machine Vendors • Operating System • Programming Language

  31. With MAVI….. • Plug and Play WCO s • Pervasive • Home/Factory Use • No programming experience • Vendor/Hardware/Software independent

  32. architecture Machines Accessed Via Internet Scenarios • User designs a prototype at home. Uses a shareware MAVI client to log into an Internet Rapid Prototyping shop. Remotely control, monitor and produces his prototype. Product delivered to him. • Factory supervisor on leave. Uses the Internet and a MAVI client to log into his factory machines while overseas. Check on the machine up and down time and number of products produced.

  33. Case Study 1 - Telerobot http://telemfg.eng.nus.edu.sg • Features: • Control and monitor robot from anywhere in the world • Virtual Model for faster feedback • Easily adapted to any other robot • User Interface can be changed easily example force feedback joystick • Additional components can be upgraded or added examples Security, Encryption, Image Processing, Object Avoidance etc

  34. Case Study 2 – i2h http://mavi.mpe.nus.edu.sg/ • Internet Integrated Home • Joint project with NCB to connect the Singapore One Home to the Internet (completed in 2000) • Objective – To implement the control and monitoring of home devices via the Internet. The implementation must be simple and secured so to encourage market adoption. • Phase 1 – Implementation of some Web Controllable Objects, (WCO) like Pan/Tilt WebCam and Table Lamps.

  35. Other work….. • Jini • architecture based on Java for federating services in a distributed system • requires Java virtual machine, language dependent • CORBA • Common Object Request Broker defines an Interface Definition Language (IDL) to create interfaces to objects • Requires language dependent ORB to work • Microsoft’s (UPnP) Universal Plug N Play (newest) • Windows software in any device….

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