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Teleoperation

Thảo luận trong 'Teleoperation' bắt đầu bởi bmnhy, 11 Tháng hai 2007.

  1. bmnhy Giảng Viên

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    Blake Hannaford là một nhà nghiên cứu chuyên sâu về lĩnh vực Tele và haptic tại Mỹ (University of Washington). He is the founding editor of Haptics-e, The Electronic Journal of Haptics Research

    Mình xin trích đăng thêm bài giới thiệu của Ông về Tele vào 4rum chúng mình, đồng thời trích đăng thêm một phần về ông để chúng ta có thể hiểu hơn về GS này:

    [IMG]
    by Blake Hannaford, University of Washington

    Teleoperation is the remote control of robot manipulators. Although commands can be sent from user to remote robot at different levels of abstraction, this section describes a kind of low-level teleoperation in which the human directly controls the motions and contact forces of the remote manipulator in real time. Perhaps the most common application of this technique is in construction equipment such as excavators in which the operator controls the velocity of the joints of the "robot" to accomplish the task. However construction equipment does not provide force feedback directly to the hand. When the user is located farther from the remote robot, considerable engineering effort must be applied to reproduce the sensory feedback information which allows accurate and efficient control.
    Both teleoperation and virtual environments require this rich and self-consistent sensory feedback. Haptic feedback devices were pioneered in teleoperation systems as far back as the 1940's. In both teleoperation and virtual environment applications of haptics, a loop is closed between the human operator's motion "inputs" and forces applied by the haptic device. In teleoperation this loop is closed via a communication link, robot manipulator, and the environment. In virtual environments, the loop is closed via a computer simulation.
    Key issues for the advancement of teleoperation technology include:

    Performance Evaluation: What quantitative measures can be developed with which to quantify the quality of a teleoperation system (including haptic displays)?
    Control: How can stable, high performance, control be obtained in spite of highly variable human operator and environment dynamics, time delays in communication channel, and kinematic effects such as singularities?
    Scaling: What are the requirements for effective user interfaces when there is a large difference in scale (either up or down) between the master (human operator) and slave (remote robot)?

    Mechanization: High quality teleoperation and haptic interaction depends critically on advanced mechanism designs for both master and slave sides. Key issues are light stiff structures and linkages, actuators with high torque/mass ratios and high linearity, compact, high resolution sensors for position velocity and force/torque.
    Kinematics of Teleoperation: How can effective use be made of redundant degrees of freedom in teleoperation systems (i.e. when the number of slave DOF > number of master DOF)?


    Sơ lược về GS!
    Blake Hannaford
    Professor
    Director, Biorobotics Laboratory
    M434 EE/CSE
    Box 352500
    University of Washington
    Seattle, WA 98195
    Phone: (206) 543-2197
    E-mail: hannaford@ee.washington.edu

    University of California, Berkeley 1985 Ph.D.
    University of California, Berkeley 1982 M.S.
    Yale University 1977 B.S.
    ==================
    Research Interests
    Biorobotics, divided into two primary thrusts: haptic interfaces, and biologically inspired robots. Haptic interfaces apply robotic techniques to develop better ways to interface humans and computers. Biological movement systems have many properties which exceed those of mechanical robots. By building robotic replicas of biological systems there is a hope to engineer better robots as well as learn more about biology. Applications of this technology include remote vehicles and prosthetic limbs
    ===================
    Patents
    B. Hannaford, 'Method and Apparatus for Multiplexing Switch Signals,' US Patent No. 4,884,070, Nov. 28 1989.

    B. Hannaford, M.R. Moreyra, P.H. Marbot, 'Five axis direct-drive mini-robot having fifth actuator located at a non-adjacent joint ,' U.S. Patent #5,528,955, June 25, 1996 (issued).

    R. Seubert, M.V. Olson, D. Meldrum, B. Hannaford, P. Wiktor, N.A. Friedman, D.B. Snow, R. Kraft, 'Precision small volume fluid processing apparatus,' U.S. Patent #5,785,926, July 28, 1998.

    P. Buttolo, B. Hannaford, 'Direct Drive Manipuator for pen-based force display,' U.S. Patent #5,642,469, June 24, 1997 (issued).

    "Flat Coil Actuator having Coil Embedded in Linkage", Steven Venema and Blake Hannaford.
    ===================
    Honors
    "Early Career Achievement Award": IEEE Engineering in Medicine and Biology Society, November 1991
    NASA Group Achievement Award, May 1991
    National Science Foundation Presidential Young Investigator Award, 9/90-9/95

    <span style="font-size:12pt;line-height:100%">Các bạn có thể theo những link sau để tìm đến nhiều thông tin bổ ích:</span>

    Haptic Community::http://haptic.mech.northwestern.edu/

    B. Hannaford Official (1) và private Homepage (2):
    1: <a href="http://www.ee.washington.edu/faculty/hannaford/" target="_blank">http://www.ee.washington.edu/faculty/hannaford/</a>
    2: <a href="http://brl.ee.washington.edu/" target="_blank">http://brl.ee.washington.edu/</a>

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