NDLI: Mediating Time Delayed Teleoperation with User Suggested Models: Implications and Comparative Study

Content Provider	IEEE Xplore Digital Library
Author	Mitra, P. Niemeyer, G.
Copyright Year	2008
Description	Author affiliation: Stanford Univ., Stanford (Mitra, P.; Niemeyer, G.)
Abstract	Model mediation allows telerobotic users to manipulate remote environments across several seconds of delay. As the slave robot interacts with its surroundings an approximate model of the environment is continually estimated and sent to the master, where it is visually and haptically displayed to the user. By interacting with this local rendition the user is able to produce appropriate force and motion commands, which are transmitted to the slave. This paper improves upon the scheme by allowing users to provide their own model estimates as suggestions to the system, in effect predicting an environment the slave has yet to detect. A user study is conducted involving master-slave teleoperation under two seconds of round-trip delay, with two goals: to test the utility of the new feature, and to test the utility of model mediation against existing teleoperation methods. Three comparison methods are chosen which can handle large delays: video-only feedback, video with visual slave predictor overlay, and wave variables. Experimental results are presented which effectively demonstrate both the benefits of user suggested models to model mediation as well as the benefits of model mediation over previous methods.
Starting Page	343
Ending Page	350
File Size	897855
Page Count	8
File Format	PDF
ISBN	9781424420056
DOI	10.1109/HAPTICS.2008.4479969
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-03-13
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Delay effects Master-slave Mediation Predictive models Feedback Testing Haptic interfaces Robot sensing systems Telerobotics Supervisory control
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in