NDLI: Using virtual objects to aid underground storage tank teleoperation

Content Provider	IEEE Xplore Digital Library
Author	Anderson, R.J. Davies, B.
Copyright Year	1994
Description	Author affiliation: Intelligent Machines Syst. Div., Sandia Nat. Labs., Albuquerque, NM, USA (Anderson, R.J.; Davies, B.)
Abstract	Describes an algorithm by which obstructions and surface features in an underground storage tank can be modeled and used to generate virtual barrier functions for a real-time telerobotic system, which provides an aid to the operator for both real-time obstacle avoidance and for surface tracking. The algorithm requires that the slave's tool and every object in the waste storage tank be decomposed into convex polyhedral primitives, with the waste surface modeled by triangular prisms. Intrusion distance and extraction vectors are then derived at every time step by applying Gilbert's polyhedra distance algorithm, which has been adapted for the task. This information is then used to determine the compression and location of nonlinear virtual spring-dampers whose total force is summed and applied to the manipulator/teleoperator system. Experimental results using a PUMA 560 and a simulated waste surface validate the approach, showing that it is possible to compute the algorithm and generate smooth, realistic psuedo forces for the teleoperator system using standard VME bus hardware.
Starting Page	1421
Ending Page	1426
File Size	514382
Page Count	6
File Format	PDF
ISBN	0818653302
DOI	10.1109/ROBOT.1994.351290
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	Teleoperators Force sensors Laboratories Telerobotics Sensor arrays Real time systems US Department of Energy Intelligent sensors Sensor phenomena and characterization Sensor systems
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
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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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