Journal ArticleDOI
Haptic Feedback in Uninhabited Aerial Vehicle Teleoperation with Time Delay
TLDR
In this paper, a theoretical analysis of using wave variables to enhance a collision-avoidance system for visual and haptic uninhabited aerial vehicle teleoperation with time delay is presented.Abstract:
In the teleoperation of an uninhabited aerial vehicle, haptic feedback can be used to provide useful information through the sense of touch. Although this can improve performance and enhance situation awareness, time delays caused by signal transmission generally induce control problems with haptic feedback, causing unsafe operations. Wave variables have been suggested to cope with the control problems in bilateral human-machine systems with time delay. Very little has been reported, however, on effects related to human control activity and workload when using wave variables. This paper describes a theoretical analysis of using wave variables to enhance a collision-avoidance system for visual and haptic uninhabited aerial vehicle teleoperation with time delay. An experiment was conducted to evaluate its effectiveness regarding operator performance, control activity, workload, and the safety of operation. Results indicate that wave variables are indeed successful in improving human performance. The number of collisions, operator control activity, and workload all decreased. Whereas performance and control activity were equivalent to the situation of haptic feedback without time delay, workload remained higher.read more
Citations
More filters
Journal ArticleDOI
Semiautonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles
Dongjun Lee,Antonio Franchi,Hyoung Il Son,Changsu Ha,Heinrich H. Bülthoff,Paolo Robuffo Giordano +5 more
TL;DR: In this paper, a semiautonomous haptic teleoperation control architecture for multiple UAVs is proposed, consisting of three control layers: 1) UAV control layer, where each UAV is abstracted by, and is controlled to follow the trajectory of its own kinematic Cartesian virtual point (VP); 2) VP controller layer, which modulates each VP's motion according to the teleoperation commands and local artificial potentials (VP-VP/VP-obstacle collision avoidance and VP-VP connectivity preservation); and 3) teleoperation layer, through which
Journal ArticleDOI
Artificial Force Field for Haptic Feedback in UAV Teleoperation
TL;DR: Results indicate that the novel AFF more effectively performs the collision avoidance function than potential fields known from literature, and because of its smaller size, the field yields lower repulsive forces, results in less force cancellation effects, and allows for larger UAV velocities.
Journal ArticleDOI
Cutaneous Force Feedback as a Sensory Subtraction Technique in Haptics
TL;DR: In this article, a novel sensory substitution technique is presented, where both kinesthetic and cutaneous force feedback are substituted by cutaneous feedback only, provided by two wearable devices able to apply forces to the index finger and the thumb, while holding a handle during teleoperation tasks.
Proceedings ArticleDOI
Haptic teleoperation of multiple unmanned aerial vehicles over the internet
TL;DR: A novel haptic teleoperation control framework for multiple unmanned aerial vehicles (UAVs) over the Internet, consisting of the three control layers, through which a remote human user can command all (or some) of the VPs' velocity while haptically perceiving the state of all of the UAVs over theInternet.
Journal ArticleDOI
Switched and Symmetric Pursuit/Evasion Games Using Online Model Predictive Control With Application to Autonomous Aircraft
TL;DR: A supervisory controller for pursuit and evasion of two fixed-wing autonomous aircraft, providing switching criteria to change modes to become a pursuer based on the current and future state of the vehicle under control, and that of the adversarial aircraft.
References
More filters
Book ChapterDOI
Development of NASA-TLX (Task Load Index): Results of Empirical and Theoretical Research
TL;DR: In this article, the results of a multi-year research program to identify the factors associated with variations in subjective workload within and between different types of tasks are reviewed, including task-, behavior-, and subject-related correlates of subjective workload experiences.
Journal ArticleDOI
Bilateral control of teleoperators with time delay
R.J. Anderson,Mark W. Spong +1 more
TL;DR: In this paper, a control law for teleoperators is presented which overcomes the instability caused by time delay by using passivity and scattering theory, a criterion is developed which shows why existing bilateral control systems are unstable for certain environments, and why the proposed bilateral control law is stable for any environment and any time delay.
Journal ArticleDOI
Stable adaptive teleoperation
TL;DR: In this article, a physically motivated, passivity-based formalism is used to provide energy conservation and stability guarantees in the presence of transmission delays, and an adaptive tracking controller is incorporated for the control of the remote robotic system and can be used to simplify, transform or enhance the remote dynamics perceived by the operator.
Journal ArticleDOI
Time domain passivity control of haptic interfaces
Blake Hannaford,Jee-Hwan Ryu +1 more
TL;DR: A patent-pending, energy-based method is presented for controlling a haptic interface system to ensure stable contact under a wide variety of operating conditions and requires very little additional computation and does not require a dynamical model to be identified.
Journal ArticleDOI
Space teleoperation through time delay: review and prognosis
TL;DR: A 30-year history of research on dealing with the effects of time delay in the control loop on human teleoperation in space is reviewed, along with demonstrations of predictive displays to help the human overcome the delay.
Related Papers (5)
Exploring the Dimensions of Haptic Feedback Support in Manual Control
David A. Abbink,Max Mulder +1 more