|
JAIST Repository >
School of Information Science >
Articles >
Journal Articles >
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)
|
Files in This Item:
File |
Description |
Size | Format |
544.pdf | | 10858Kb | Adobe PDF | View/Open |
|
All items in DSpace are protected by copyright, with all rights reserved.
|