Accession Number : ADA321016

Title :   Automatic Identification of Remote Environments and Calibration of Virtual Models.

Descriptive Note : Master's thesis,

Corporate Author : AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH SCHOOL OF ENGINEERING

Personal Author(s) : Schulteis, Timothy M.

PDF Url : ADA321016

Report Date : 05 FEB 1997

Pagination or Media Count : 91

Abstract : A method is presented to automatically estimate parameters and identify constraints of remote environments in a teleoperated robot system and then to use that information to create virtual models of the remote environment. Such a model can be used in virtual training systems and in teleoperated systems with time delays. In addition, automatic parameter estimation can help the operator to improve task performance time and safety, and to plan object handling strategies. Ideally the system would determine these parameters while normal tasks are performed without interference in task accomplishment. The parameters are of two types: inherent object properties, which include weight, size, coefficient of friction, etc., and object/environment constraint parameters (i.e., parameters describing the trajectory of constrained motion and forces applied by the constraints.) In addition to constraint parameters, constraint identification includes determination of whether the constraint exists and development of the constraint model.

Descriptors :   *PARAMETERS, *ROBOTS, *REMOTE SYSTEMS, *TELEOPERATORS, TIME INTERVALS, ENVIRONMENTS, STRATEGY, PERFORMANCE(HUMAN), MOTION, ESTIMATES, IDENTIFICATION, COEFFICIENTS, DELAY, CALIBRATION, HANDLING, FRICTION, TRAJECTORIES, AUTOMATIC, VIRTUAL REALITY.

Subject Categories : Cybernetics
      Human Factors Engineering & Man Machine System
      Telemetry

Distribution Statement : APPROVED FOR PUBLIC RELEASE