160,390 research outputs found

    Remote surface inspection system

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    This paper reports on an on-going research and development effort in remote surface inspection of space platforms such as the Space Station Freedom (SSF). It describes the space environment and identifies the types of damage for which to search. This paper provides an overview of the Remote Surface Inspection System that was developed to conduct proof-of-concept demonstrations and to perform experiments in a laboratory environment. Specifically, the paper describes three technology areas: (1) manipulator control for sensor placement; (2) automated non-contact inspection to detect and classify flaws; and (3) an operator interface to command the system interactively and receive raw or processed sensor data. Initial findings for the automated and human visual inspection tests are reported

    Implementation of Distributed Control System for Rice Mill Using C#

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    The paper presents the distributed control system for rice mill using C# language. The real-time manufacturing system can be implemented by utilizing the signal from the real time control units that is more operative than other old-fashioned control systems in the extent of modern industrial days. The software-based Distributed Control System (DCS) is novel fashionable than any other conventional control systems in the state-ofthe-art manufacturing developments. This research study emphasizes on the implementation of the DCS-based rice mill using visual C#.net. The Industrial Ethernet (IE) is realized between the top level controller for the operator and the controlled station for the remote devices. The model of client-server approach is more appropriate for the automation and manufacturing research purposes. In this study, the computer graphical simulation of the complete control development is depicted in real-time status quo by visual C# language under Visual Studio 2008 software. The parallel ports in the computers of remote terminal level and the master terminal level controllers have been interconnected with port interface coding by visual C# program

    A phantom interface for the teleoperation of a mobile platform over the internet

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    The ability to teleoperate a mobile vehicle over the internet is a difficult task. Many sensory signals must be processed by the user in order to make an informed and safe vehicle-guiding decision. So much so, that the interface design is often the downfall of an otherwise capable mobile robot. A good interface should be able to relieve the user of some of the visual sensor strain and still result in a safely controlled mobile platform. The research detailed in thesis first, describes the construction of a reliable and sensor rich platform for remote vehicle control. Then an interface is developed that adds haptic sensing to divert some of the strain from the operator, resulting in an easy-to-drive remote vehicle application

    Mobile Phone as PC-TV Remote Control

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    Mobile Phone PC-TV Remote Control would provide the easiest way and better communication via Bluetooth communication on controlling PC-TV application installed inside a computer. Basically, Bluetooth Mobile Phone PC-TV Remote Control is replacing the usage of the infraredremote control becauseof the better connection by the Bluetooth connectivity instead of using infrared connectivity which requires line-of-sight approach. The scope of study is focuses on the development of the system on the Bluetooth mobile phone as the remote control on controlling the TV application in a computer. However, there are two main application needed and to be installed in the mobile phone side and also in the computer. These applications will be developed using NetBeans IDE 5.0 as Java 2 Micro Edition (J2ME) toolkit for mobile phone and Microsoft Visual Basic as Graphical User Interface (GUI) development tool for the personal computer

    System Architecture of Small Unmanned Aerial System for Flight beyond Visual Line-Of-Sight

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    Small Unmanned Aerial Systems (UAS) have increasingly been used in military application. The application in expanding scope of operations has pushed existing small UAS beyond its designed capabilities. This resulted in frequent modifications or new designs. A common requirement in modification or new design of small UAS is to operate beyond visual Line-Of-Sight (LOS) of the ground pilot. Conventional military development for small UAS adopts a design and built approach. Modification of small Remote Control (RC) aircraft, using Commercial-Off-The Shelf (COTS) equipment, offers a more economical alternative with the prospect of shorter development time compared to conventional approach. This research seeks to establish and demonstrate an architecture framework and design a prototype small UAS for operation beyond visual LOS. The aim is to achieve an effective and reliable development approach that is relevant to the military’s evolving requirements for small UASs. Key elements of the architecture include Failure Mode Effect and Criticality Analysis (FMECA), fail safe design for loss of control or communication, power management, interface definition, and configuration control to support varying onboard payloads. Flight test was conducted which successfully demonstrated a control handoff between local and remote Ground Station (GS) for beyond visual LOS operation

    Exploring Robot Teleoperation in Virtual Reality

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    This thesis presents research on VR-based robot teleoperation with a focus on remote environment visualisation in virtual reality, the effects of remote environment reconstruction scale in virtual reality on the human-operator's ability to control the robot and human-operator's visual attention patterns when teleoperating a robot from virtual reality. A VR-based robot teleoperation framework was developed, it is compatible with various robotic systems and cameras, allowing for teleoperation and supervised control with any ROS-compatible robot and visualisation of the environment through any ROS-compatible RGB and RGBD cameras. The framework includes mapping, segmentation, tactile exploration, and non-physically demanding VR interface navigation and controls through any Unity-compatible VR headset and controllers or haptic devices. Point clouds are a common way to visualise remote environments in 3D, but they often have distortions and occlusions, making it difficult to accurately represent objects' textures. This can lead to poor decision-making during teleoperation if objects are inaccurately represented in the VR reconstruction. A study using an end-effector-mounted RGBD camera with OctoMap mapping of the remote environment was conducted to explore the remote environment with fewer point cloud distortions and occlusions while using a relatively small bandwidth. Additionally, a tactile exploration study proposed a novel method for visually presenting information about objects' materials in the VR interface, to improve the operator's decision-making and address the challenges of point cloud visualisation. Two studies have been conducted to understand the effect of virtual world dynamic scaling on teleoperation flow. The first study investigated the use of rate mode control with constant and variable mapping of the operator's joystick position to the speed (rate) of the robot's end-effector, depending on the virtual world scale. The results showed that variable mapping allowed participants to teleoperate the robot more effectively but at the cost of increased perceived workload. The second study compared how operators used a virtual world scale in supervised control, comparing the virtual world scale of participants at the beginning and end of a 3-day experiment. The results showed that as operators got better at the task they as a group used a different virtual world scale, and participants' prior video gaming experience also affected the virtual world scale chosen by operators. Similarly, the human-operator's visual attention study has investigated how their visual attention changes as they become better at teleoperating a robot using the framework. The results revealed the most important objects in the VR reconstructed remote environment as indicated by operators' visual attention patterns as well as their visual priorities shifts as they got better at teleoperating the robot. The study also demonstrated that operators’ prior video gaming experience affects their ability to teleoperate the robot and their visual attention behaviours
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