NDLI: Operator interaction, for time-delayed teleoperation, with a behavior-based controller

Content Provider	IEEE Xplore Digital Library
Author	Stein, M.R. Paul, R.P.
Copyright Year	1994
Description	Author affiliation: Pennsylvania Univ., Philadelphia, PA, USA (Stein, M.R.; Paul, R.P.)
Abstract	In many teleoperation applications including undersea and shallow space operations, communication time delay limits the applicability of force reflecting master-slave devices. We instead employ teleprogramming, a supervisory control approach to remote manipulation. A behavior-based controller, constructed under the principles of the subsumption architecture, fulfils the need for semi-autonomy at the remote site prescribed by supervisory control. In this paper we present an interface allowing operator interaction with the behavior-based controller. The use of a behavior-based controller provides a rich means of presenting diagnostic and kinesthetic state information to the operator when used with diagnostic interfaces previously developed. We demonstrate the supervisory control system on a GRASP Laboratory mock-up of a slicing task performed during a satellite repair operation where a robot held knife cuts securing tape along seams of panels of a thermal protection blanket.
Starting Page	231
Ending Page	236
File Size	565923
Page Count	6
File Format	PDF
ISBN	0818653302
DOI	10.1109/ROBOT.1994.350983
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1994-05-08
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Communication system control Force control Satellites Orbital robotics Supervisory control Robot control Mobile robots Laboratories Underwater communication Protection
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

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