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ROMAN TUTOR A Robot Manipulation Tutoring Simulator. Froduald Kabanza & Khaled Belghith Université de Sherbrooke Roger Nkambou & Mahie Khan Université du Québec à Montréal Leo Hartman Canadian Space Agency. Learner Interface. The learner interface with its three monitors:

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slide1

ROMAN TUTOR

A Robot Manipulation Tutoring Simulator

Froduald Kabanza & Khaled Belghith

Université de Sherbrooke

Roger Nkambou & Mahie Khan

Université du Québec à Montréal

Leo Hartman

Canadian Space Agency

slide2

Learner Interface

The learner interface with its

three monitors:

  • Each monitor is mapped to a camera (selected among 14 cameras)
  • Each camera can be rotated and zoomed in/out
  • The SSRMS is manipulated in two modes : FOR mode or Joint by Joint mode.
  • On the bottom we have a trace window
slide3

Recognition Task

  • Recognition tasks train to recognize the different elements in the workspace
  • Here the learner is shown an element of the ISS and asked to name it
slide4

Localization Task

  • Localization tasks train to locate ISS elements and to relate them spatially to each others
  • Here the learner is shown an element of the ISS and asked to name it and to find out the camera selected in the monitor
slide5

Goto Task

  • In Goto tasks the learner is asked to move the robot from one configuration to another
  • Here the learner can be provided with an animation illustrating the requested task
slide6

How to?

  • At any point during a task the learner can ask for help about how to achieve his task
  • Here the student is accessing the “path planner” menu.
  • FADPRM path-planner is invoked to calculate a path from the current configuration to a given goal configuration.
  • The path can be animated for a better illustration of the task
slide7

FADPRM: Anytime Dynamic Path-Planner

  • FADPRM takes into account the field of view of cameras on the ISS.
  • Here we illustrate a path calculated by FADPRM taking into account the disposition of cameras on monitor 2 and monitor 3.