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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/9758

Title: A Collaborative Multi-site Teleoperation over an ISDN
Authors: Chong, Nak Young
Kotoku, Tetsuo
Ohba, Kohtaro
Komoriya, Kiyoshi
Tanie, Kazuo
Oaki, Junji
Hashimoto, Hideaki
Ozaki, Fumio
Maeda, Katsuhiro
Matsuhira, Nobuto
Keywords: Multi-site tele-collaboration
Time delay
Predictive simulator
Integrated services digital network
Issue Date: 2003-02-18
Publisher: Elsevier
Magazine name: Mechatronics
Volume: 13
Number: 8-9
Start page: 957
End page: 979
DOI: 10.1016/S0957-4158(03)00010-2
Abstract: We have developed an advanced infrastructure and technologies for collaborative remote operations, enabling multiple operators with large physical separation to control multiple slave robots in a common environment over the network. Human operators’ delayed visual perception arising from communication time delays seriously affects the performance of collaborative multi-site operations and accordingly requires supplementary information locally available to operators irrespective of time delays. Few facilities exist to investigate remote multi-site operations, thus we have built an experimental test bed connecting Tsukuba and Kawasaki in Japan via an integrated services digital network. In particular, an on-line predictive graphics simulator is incorporated to cope with image feedback delays from the remote site. Specifically, exploiting audio-visual features of the simulator, operators can detect a priori the possibility of collision between robots and guide them towards task goal through time delays. To verify the validity of the simulator assisted approach, we have performed a demonstration of prototype plant maintenance in April 2000 between Tsukuba and Kawasaki.
Rights: NOTICE: This is the author's version of a work accepted for publication by Elsevier. Nak Young Chong, Tetsuo Kotoku, Kohtaro Ohba, Kiyoshi Komoriya, Kazuo Tanie, Junji Oaki, Hideaki Hashimoto, Fumio Ozaki, Katsuhiro Maeda, and Nobuto Matsuhira, Mechatronics, 13(8-9), 2003, 957-979, http://dx.doi.org/10.1016/S0957-4158(03)00010-2
URI: http://hdl.handle.net/10119/9758
Material Type: author
Appears in Collections:b10-1. 雑誌掲載論文 (Journal Articles)

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