scholarly journals Teleoperation and Visualization Interfaces for Remote Intervention in Space

2021 ◽  
Vol 8 ◽  
Author(s):  
Peter Kazanzides ◽  
Balazs P. Vagvolgyi ◽  
Will Pryor ◽  
Anton Deguet ◽  
Simon Leonard ◽  
...  
Keyword(s):  
Situation Awareness ◽  
Control Strategies ◽  
Human Robot Interaction ◽  
Task Load ◽  
Model Based ◽  
Autonomous Operation ◽  
Satellite Servicing ◽  
Manufacturing Assembly ◽  
Human Operators ◽  
And Control

Approaches to robotic manufacturing, assembly, and servicing of in-space assets range from autonomous operation to direct teleoperation, with many forms of semi-autonomous teleoperation in between. Because most approaches require one or more human operators at some level, it is important to explore the control and visualization interfaces available to those operators, taking into account the challenges due to significant telemetry time delay. We consider one motivating application of remote teleoperation, which is ground-based control of a robot on-orbit for satellite servicing. This paper presents a model-based architecture that: 1) improves visualization and situation awareness, 2) enables more effective human/robot interaction and control, and 3) detects task failures based on anomalous sensor feedback. We illustrate elements of the architecture by drawing on 10 years of our research in this area. The paper further reports the results of several multi-user experiments to evaluate the model-based architecture, on ground-based test platforms, for satellite servicing tasks subject to round-trip communication latencies of several seconds. The most significant performance gains were obtained by enhancing the operators’ situation awareness via improved visualization and by enabling them to precisely specify intended motion. In contrast, changes to the control interface, including model-mediated control or an immersive 3D environment, often reduced the reported task load but did not significantly improve task performance. Considering the challenges of fully autonomous intervention, we expect that some form of teleoperation will continue to be necessary for robotic in-situ servicing, assembly, and manufacturing tasks for the foreseeable future. We propose that effective teleoperation can be enabled by modeling the remote environment, providing operators with a fused view of the real environment and virtual model, and incorporating interfaces and control strategies that enable interactive planning, precise operation, and prompt detection of errors.

The influence of task load on situation awareness and control strategy in the ATC tower environment

2018 ◽  
Vol 20 (2) ◽  
pp. 205-217 ◽  
Author(s):  
Maik Friedrich ◽  
Maresa Biermann ◽  
Patrick Gontar ◽  
Marcus Biella ◽  
Klaus Bengler
Keyword(s):  
Situation Awareness ◽  
Control Strategy ◽  
Task Load ◽  
Atc Tower ◽  
And Control

Implementation and Investigation of a Compact, Powerful System for Diagnosis and Control of Shape Memory Alloys in Technical Applications

2019 ◽  
Author(s):  
Max Kaiser ◽  
Nils Neblung ◽  
Martin Gurka
Keyword(s):  
Phase Transformation ◽  
Shape Memory Alloys ◽  
Shape Memory ◽  
Electrical Resistance ◽  
Control Strategies ◽  
Memory Systems ◽  
Constant Load ◽  
Resistance Change ◽  
Model Based ◽  
And Control

Abstract In this paper we present the development, implementation and testing of a compact system for diagnosis and control of actuators based on metallic shape memory alloys (SMA). Using NiTi-SMA, very compact, cost-effective and lightweight actuation systems can be realized. In applications where the SMA is activated by internal Joule heating or its condition is diagnosed by the self-sensing of its electrical resistance, an electrical system capable of reliably measuring very small resistance changes (< 1 ohm) without affecting the phase-state of the SMA is required. In addition, the system must offer the possibility to evaluate the nonlinear, hysteresis-afflicted behavior of the SMA and to handle this difficulty, e.g. utilizing a model-based control. This paper presents a simple compact and adaptive system based on a microcontroller that meets these requirements. Detailed functional tests were carried out with the system to establish a correlation between the change in electrical resistance in the range < 200 mOhm and the current strain state of the actuator. For this purpose, a first series of tests was performed, with the SMA wires working against a constant load. In a second tests series, the SMA wires worked against springs of different stiffness. The use of a microcontroller enables simple implementation of different control strategies. The control system for the non-linear resistance change utilizes a fuzzy logic which divides the control algorithm into three regimes. In the regime of the martensitic phase transformation a PI-controller is used. The state of actuators with an absolute electrical resistance < 1 Ohm and a resistance change < 200 mohm associated with the phase transformation can be precisely measured and controlled with an accuracy < 10 mohm. The system can be configured with little effort for different tasks and shape memory systems of different sizes. Furthermore, it is possible to implement more complex control algorithms up to model-based controllers.

Model-Based Assessment of Situation Awareness

2002 ◽  
Vol 46 (3) ◽  
pp. 347-351 ◽  
Author(s):  
Floyd Glenn ◽  
Jennifer McNamara ◽  
Jim Hicinbothom ◽  
Derek Wischusen
Keyword(s):  
Situation Awareness ◽  
Cognitive Model ◽  
Command And Control ◽  
Assessment Instrument ◽  
Subject Matter Experts ◽  
Critical Events ◽  
Model Based ◽  
Control Application ◽  
And Control ◽  
Established Technique

In order to evaluate situation awareness (SA) in a Navy shipboard command and control environment, a model-based framework is being developed based on the foundation of an established technique. An executable cognitive model is used to generate interruption points and probe questions by executing in realtime in parallel with the evaluated individual. The model identifies when critical events occur (or could occur) and also determines what information is critical to identifying these situations and making required decisions. The model instigates interruptions of performance in the simulation environment and presents appropriate probe questions. An empirical exercise was undertaken in order to provide data on the design of this SA assessment instrument for the target command and control application. Subject matter experts (SMEs) were employed to identify critical events and information in simulation scenarios and those specifications were used to provide guidance for the development of the model-based SA assessment technique.

PROGRAMMING APPROACH FOR FUZZY MODEL-BASED MULTIOBJECTIVE CONTROL SYSTEMS

1999 ◽  
Vol 07 (04) ◽  
pp. 293-300 ◽  
Author(s):  
ZEUNGNAM BIEN ◽  
DONG-OH KANG ◽  
SE-HYUN YANG
Keyword(s):  
Large Scale ◽  
Control Strategies ◽  
Solution Process ◽  
Fuzzy Model ◽  
Optimization Methods ◽  
Programming Approach ◽  
Control Problems ◽  
Model Based ◽  
Human Operators ◽  
Conventional Optimization

Many practical control problems for the complex, uncertain or large-scale plants, need to simultaneously achieve a number of objectives, which may conflict or compete with each other. If the conventional optimization methods are applied to solve these control problems, the solution process may be time-consuming and the resulting solution would often lose its original meaning of optimality. Nevertheless, the human operators usually perform satisfactory results based on their qualitative and heuristic knowledge. In this paper, we investigate the control strategies of the human operators, and propose a fuzzy model-based multi-objective satisfactory controller. We also apply it to the automatic train operation (ATO) system for the magnetically levitated vehicles (MAGLEV).

Model-based evaluation of control strategies for phosphorus removal in a full-scale advanced phase isolation ditch process

2009 ◽  
Vol 60 (4) ◽  
pp. 879-888 ◽  
Author(s):  
H. Kim ◽  
Y. Kim ◽  
J. Cha ◽  
K. Min ◽  
J. Gee ◽  
...  
Keyword(s):  
Flow Rate ◽  
Control Strategy ◽  
Phosphorus Removal ◽  
Control Strategies ◽  
Full Scale ◽  
Model Based ◽  
Operation Conditions ◽  
Advanced Phase ◽  
And Control ◽  
Influent Flow

A model-based evaluation of operation conditions and control strategies was conducted for phosphorus removal in a full-scale Advanced Phase Isolation Ditch (APID) process. The APID process is an alternating type and does not have a separated anaerobic reactor. We suggested that it would be a suitable operational option for robust phosphorus removal by having a different input point for the influent and return sludge flow at specific modes. For evaluation of control strategies, three cases of influent disturbance were assumed, and five manipulated variables were selected for controlling the cases of disturbance. In the case of an increased influent flow rate, a combination of four manipulated variables is proposed through our simulation results as the best control strategy. The optimal kLa value was found to be 250/d when pollutants loading kept increasing without variations in the flow rate. When both the pollutants loading and the influent flow rates were increased simultaneously, the robust control strategy is to combine the return sludge inflow point, the exclusive operation modes which have a relatively long hydraulic retention time (HRT), operation period of 30 minutes, and the increase of the return sludge flow rate in proportion to the influent flow rate added to 300/d of kLa value.

Visualizing Model-Based Predictive Controllers

2000 ◽  
Vol 44 (22) ◽  
pp. 511-514 ◽  
Author(s):  
Stephanie Guerlain ◽  
Greg Jamieson ◽  
Peter Bullemer
Keyword(s):  
Situation Awareness ◽  
Cognitive Tasks ◽  
Model Based ◽  
Information Displays ◽  
Event Information ◽  
Data Layers ◽  
And Control ◽  
Near Future ◽  
Predictive Controllers ◽  
Future Status

One common problem with information displays, particularly in process control, is that relevant data is often scattered across several, separate displays that obscure important relationships and fail to show event information. The current displays used for model-based predictive controllers demonstrate several of the problems that this kind of a design can incur. It is hard to get a good sense of the recent, current and near-future status of the controller (situation awareness), and it is difficult to make informed decision when making changes to the controller (putting data into context). This forces users to navigate around a virtual workspace and attempt to compile the data necessary to make an informed conclusion. We have applied several design principles to show how it is possible to re-represent data into hierarchical data layers that support the cognitive tasks of monitoring, diagnosis, and control. This design forms a coherent, coordinated workspace which helps orient users to problems in the controller, with direct navigation to supporting details.

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