272 research outputs found
Teleoperation of a service robot using a mobile device
Teleoperation is a concept born with the rapid evolution of technology, with
an intuitive meaning "operate at a distance."
The first teleoperation system was created in the mid 1950s, which were handled
chemicals. Remote controlled systems are present nowadays in various types of applications.
This dissertation presents the development of a mobile application to perform
the teleoperation of a mobile service robot.
The application integrates a distributed surveillance (the result of a research
project QREN) and led to the development of a communication interface between
the robot (the result of another QREN project) and the vigilance system.
It was necessary to specify a communication protocol between the two systems,
which was implemented over a communication framework 0MQ (Zero Message Queue).
For the testing, three prototype applications were developed before to perform
the test on the robot
User-centered design of a dynamic-autonomy remote interaction concept for manipulation-capable robots to assist elderly people in the home
In this article, we describe the development of a human-robot interaction concept for service robots to assist elderly people in the home with physical tasks. Our approach is based on the insight that robots are not yet able to handle all tasks autonomously with sufficient reliability in the complex and heterogeneous environments of private homes. We therefore employ remote human operators to assist on tasks a robot cannot handle completely autonomously. Our development methodology was user-centric and iterative, with six user studies carried out at various stages involving a total of 241 participants. The concept is under implementation on the Care-O-bot 3 robotic platform. The main contributions of this article are (1) the results of a survey in form of a ranking of the demands of elderly people and informal caregivers for a range of 25 robot services, (2) the results of an ethnography investigating the suitability of emergency teleassistance and telemedical centers for incorporating robotic teleassistance, and (3) a user-validated human-robot interaction concept with three user roles and corresponding three user interfaces designed as a solution to the problem of engineering reliable service robots for home environments
Microsurgery robots: addressing the needs of high-precision surgical interventions
Robots can help surgeons perform better quality operations, leading to reductions in the hospitalisation time of patients and in the impact of surgery on their postoperative quality of life
EvaluaciĂłn de un vehĂculo teleoperado con fines educativos
The use of robotics vehicles in the education of children and teenagers constitutes a modern tendency of great interest in Cuba, due to the quantity of knowledge that provides and the variety of disciplines that it integrates. The present work has as objective to evaluate the use of a teleoperated and robotic vehicle based on Arduino, in the education of children and adolescents from Cuba. It includes the study of the state of the art about educational robotics in the world and in Cuba, who allows to define the main educational activities permitted by robots and the parameters to evaluate in the vehicle of analysis. Afterwards, it carries out a description of the technical specifications of the device, which influences in the benefits obtained by the use of the vehicle. Finally, it carries out the evaluation taking into account the defined parameters in the study of the state of the art. It obtains as conclusions that the use of the vehicle with educational purposes would be very fruitful, in spite of minimum limitations that do not put directly in risk the quality of educational activities.La utilizaciĂłn de vehĂculos robĂłticos en la educaciĂłn de niños y adolescentes constituye una tendencia moderna de gran interĂ©s en Cuba, debido a la cantidad de conocimientos que provee y la variedad de disciplinas que integra. El presente trabajo tiene como objetivo evaluar el empleo de un vehĂculo robĂłtico teleoperado basado en Arduino, en la educaciĂłn de niños y adolescentes cubanos. Contempla el estudio del estado del arte de la robĂłtica educativa en el mundo y en Cuba, lo cual posibilitĂł definir las principales actividades educativas que permiten los robots y los parámetros a evaluar en el vehĂculo de análisis. Posteriormente, se realiza una descripciĂłn de las caracterĂsticas tĂ©cnica del dispositivo, las cuales influyen en los beneficios que se obtienen del empleo del vehĂculo. Para finalizar, se realiza la evaluaciĂłn teniendo en cuenta los parámetros definidos en el estudio del estado del arte. Se obtienen como conclusiones que serĂa muy provechoso el empleo del vehĂculo con fines instructivos, a pesar de limitaciones mĂnimas que no ponen directamente en riesgo la calidad de las actividades educativas
On the use of haptic tablets for UGV teleoperation in unstructured environments: system design and evaluation
Teleoperation of Unmanned Ground Vehicles (UGVs), particularly for inspection of unstructured and
unfamiliar environments still raises important challenges from the point of view of the operator interface.
One of these challenges is caused by the fact that all information available to the operator is presented to the operator through a computer interface, providing only a partial view of the robot situation. The majority of existing interfaces provide information using visual, and, less frequently, sound channels. The lack of Situation Awareness (SA), caused by this partial view, may lead to an incorrect and inefficient response to the current UGV state, usually confusing and frustrating the human operator. For instance, the UGV may become stuck in debris while the operator struggles to move the robot, not understanding the cause of the UGV lack of motion. We address this problem by studying the use of haptic feedback to improve operator SA. More precisely, improving SA with respect to the traction state of the UGV, using a haptic tablet for both commanding the robot and conveying traction state to the user by haptic feedback. We report (1) a teleoperating interface, integrating a haptic tablet with an existing UGV teleoperation interface, and (2) the experimental results of a user study designed to evaluate the advantage of this interface in the teleoperation of a UGV, in a search and rescue scenario. Statistically significant results were found supporting the hypothesis that using the haptic tablet elicits a reduction in the time that the UGV spends in states without traction.info:eu-repo/semantics/publishedVersio
Recent Advancements in Augmented Reality for Robotic Applications: A Survey
Robots are expanding from industrial applications to daily life, in areas such as medical robotics, rehabilitative robotics, social robotics, and mobile/aerial robotics systems. In recent years, augmented reality (AR) has been integrated into many robotic applications, including medical, industrial, human–robot interactions, and collaboration scenarios. In this work, AR for both medical and industrial robot applications is reviewed and summarized. For medical robot applications, we investigated the integration of AR in (1) preoperative and surgical task planning; (2) image-guided robotic surgery; (3) surgical training and simulation; and (4) telesurgery. AR for industrial scenarios is reviewed in (1) human–robot interactions and collaborations; (2) path planning and task allocation; (3) training and simulation; and (4) teleoperation control/assistance. In addition, the limitations and challenges are discussed. Overall, this article serves as a valuable resource for working in the field of AR and robotic research, offering insights into the recent state of the art and prospects for improvement
Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview, and Current Use Cases
Certain telerobotic applications, including telerobotics in space, pose particularly demanding challenges to both technology and humans. Traditional bilateral telemanipulation approaches often cannot be used in such applications due to technical and physical limitations such as long and varying delays, packet loss, and limited bandwidth, as well as high reliability, precision, and task duration requirements. In order to close this gap, we research model-augmented haptic telemanipulation (MATM) that uses two kinds of models: a remote model that enables shared autonomous functionality of the teleoperated robot, and a local model that aims to generate assistive augmented haptic feedback for the human operator. Several technological methods that form the backbone of the MATM approach have already been successfully demonstrated in accomplished telerobotic space missions. On this basis, we have applied our approach in more recent research to applications in the fields of orbital robotics, telesurgery, caregiving, and telenavigation. In the course of this work, we have advanced specific aspects of the approach that were of particular importance for each respective application, especially shared autonomy, and haptic augmentation. This overview paper discusses the MATM approach in detail, presents the latest research results of the various technologies encompassed within this approach, provides a retrospective of DLR's telerobotic space missions, demonstrates the broad application potential of MATM based on the aforementioned use cases, and outlines lessons learned and open challenges
A continuum robotic platform for endoscopic non-contact laser surgery: design, control, and preclinical evaluation
The application of laser technologies in surgical interventions has been accepted in the clinical
domain due to their atraumatic properties. In addition to manual application of fibre-guided
lasers with tissue contact, non-contact transoral laser microsurgery (TLM) of laryngeal tumours
has been prevailed in ENT surgery. However, TLM requires many years of surgical training
for tumour resection in order to preserve the function of adjacent organs and thus preserve the
patient’s quality of life. The positioning of the microscopic laser applicator outside the patient
can also impede a direct line-of-sight to the target area due to anatomical variability and limit
the working space. Further clinical challenges include positioning the laser focus on the tissue
surface, imaging, planning and performing laser ablation, and motion of the target area during
surgery. This dissertation aims to address the limitations of TLM through robotic approaches and
intraoperative assistance. Although a trend towards minimally invasive surgery is apparent, no
highly integrated platform for endoscopic delivery of focused laser radiation is available to date.
Likewise, there are no known devices that incorporate scene information from endoscopic imaging
into ablation planning and execution. For focusing of the laser beam close to the target tissue, this
work first presents miniaturised focusing optics that can be integrated into endoscopic systems.
Experimental trials characterise the optical properties and the ablation performance. A robotic
platform is realised for manipulation of the focusing optics. This is based on a variable-length
continuum manipulator. The latter enables movements of the endoscopic end effector in five
degrees of freedom with a mechatronic actuation unit. The kinematic modelling and control of the
robot are integrated into a modular framework that is evaluated experimentally. The manipulation
of focused laser radiation also requires precise adjustment of the focal position on the tissue. For
this purpose, visual, haptic and visual-haptic assistance functions are presented. These support
the operator during teleoperation to set an optimal working distance. Advantages of visual-haptic
assistance are demonstrated in a user study. The system performance and usability of the overall
robotic system are assessed in an additional user study. Analogous to a clinical scenario, the
subjects follow predefined target patterns with a laser spot. The mean positioning accuracy of the
spot is 0.5 mm. Finally, methods of image-guided robot control are introduced to automate laser
ablation. Experiments confirm a positive effect of proposed automation concepts on non-contact
laser surgery.Die Anwendung von Lasertechnologien in chirurgischen Interventionen hat sich aufgrund der atraumatischen Eigenschaften in der Klinik etabliert. Neben manueller Applikation von fasergefĂĽhrten
Lasern mit Gewebekontakt hat sich die kontaktfreie transorale Lasermikrochirurgie (TLM) von
Tumoren des Larynx in der HNO-Chirurgie durchgesetzt. Die TLM erfordert zur Tumorresektion
jedoch ein langjähriges chirurgisches Training, um die Funktion der angrenzenden Organe zu
sichern und damit die Lebensqualität der Patienten zu erhalten. Die Positionierung des mikroskopis chen Laserapplikators außerhalb des Patienten kann zudem die direkte Sicht auf das Zielgebiet
durch anatomische Variabilität erschweren und den Arbeitsraum einschränken. Weitere klinische
Herausforderungen betreffen die Positionierung des Laserfokus auf der Gewebeoberfläche, die
Bildgebung, die Planung und AusfĂĽhrung der Laserablation sowie intraoperative Bewegungen
des Zielgebietes. Die vorliegende Dissertation zielt darauf ab, die Limitierungen der TLM durch
robotische Ansätze und intraoperative Assistenz zu adressieren. Obwohl ein Trend zur minimal
invasiven Chirurgie besteht, sind bislang keine hochintegrierten Plattformen fĂĽr die endoskopische
Applikation fokussierter Laserstrahlung verfĂĽgbar. Ebenfalls sind keine Systeme bekannt, die
Szeneninformationen aus der endoskopischen Bildgebung in die Ablationsplanung und -ausfĂĽhrung
einbeziehen. Für eine situsnahe Fokussierung des Laserstrahls wird in dieser Arbeit zunächst
eine miniaturisierte Fokussieroptik zur Integration in endoskopische Systeme vorgestellt. Experimentelle Versuche charakterisieren die optischen Eigenschaften und das Ablationsverhalten. Zur
Manipulation der Fokussieroptik wird eine robotische Plattform realisiert. Diese basiert auf einem
längenveränderlichen Kontinuumsmanipulator. Letzterer ermöglicht in Kombination mit einer
mechatronischen Aktuierungseinheit Bewegungen des Endoskopkopfes in fĂĽnf Freiheitsgraden.
Die kinematische Modellierung und Regelung des Systems werden in ein modulares Framework
eingebunden und evaluiert. Die Manipulation fokussierter Laserstrahlung erfordert zudem eine
präzise Anpassung der Fokuslage auf das Gewebe. Dafür werden visuelle, haptische und visuell haptische Assistenzfunktionen eingeführt. Diese unterstützen den Anwender bei Teleoperation
zur Einstellung eines optimalen Arbeitsabstandes. In einer Anwenderstudie werden Vorteile der
visuell-haptischen Assistenz nachgewiesen. Die Systemperformanz und Gebrauchstauglichkeit
des robotischen Gesamtsystems werden in einer weiteren Anwenderstudie untersucht. Analog zu
einem klinischen Einsatz verfolgen die Probanden mit einem Laserspot vorgegebene Sollpfade. Die
mittlere Positioniergenauigkeit des Spots beträgt dabei 0,5 mm. Zur Automatisierung der Ablation
werden abschließend Methoden der bildgestützten Regelung vorgestellt. Experimente bestätigen
einen positiven Effekt der Automationskonzepte fĂĽr die kontaktfreie Laserchirurgie
Robot aplicado a la medición de áreas usando gps
The geo-referencing and measurement of land areas is the first obstacle to overcome for the farmer, as having no certainty of the place and the extent to which a particular crop began its current state and generates high costs of equipment and personnel movement specialized for this task identification, referencing, and field calculations. One solution to this problem is investigated and described in this article, which comprises software and hardware. In the case of software, this article covers two parts: the first on mobile devices, consisting of 9 classes (GeograficasPlanas, GamePad, Archives, SerieLinux, AreaPoligono, StringMejorado, DatosGPS, VisionArtificial, Xbee) and the second is embedded in the Arduino UNO using 5 classes (SoftwareSerial, PololuQik, Servo, TinyGPS, SD). In the case of hardware worked with the Dagu Wild Thumper 6WD vehicle, stayed in this battery, Arduino, 2s12v10 Pololu Qik, the Xbee, GPS A2100A, sensor pan / tilt and optical sensor.la georreferenciaciĂłn y mediciĂłn de áreas de terreno es el primer obstáculo a vencer para el agricultor colombiano quien por no tener certeza del lugar y la extensiĂłn en el cual se iniciará un determinado cultivo y su estado genera altos costos en desplazamiento de equipos y personal especializado para realizar labores de identificaciĂłn, referenciaciĂłn y cálculos del terreno. El presente artĂculo describe la investigaciĂłn que desarrollĂł una soluciĂłn a este problema, integrada por software y hardware; el software en dos partes: la primera en el dispositivo mĂłvil, conformada por 9 clases (GeograficasPlanas, GamePad, Archivos, SerieLinux, AreaPoligono, StringMejorado, DatosGPS, VisionArtificial, Xbee), y la segunda embebida en el Arduino UNO usando 5 clases (SoftwareSerial, PololuQik, Servo, TinyGPS, SD). En el caso del hardware se trabajĂł con el vehĂculo Dagu Wild Thumper 6WD, en este se alojaron las baterĂas, Arduino, Pololu Qik 2s12v10, el Xbee, GPS A2100A, sensor pan/tilt y sensor Ăłptic
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