1. Teleoperation Jennifer Homich CSC338

2. Teleoperation Teleoperation is defined as operation of a machine at a distance. It is similar in meaning to the phrase “remote control" but is usually encountered in research, academic and technical environments.

3. Distance Teleoperation is controlling a robot from a distance. Distance can vary from tens of centimeters to millions of kilometers Teleoperation is controlling a robot from a distance. Distance can vary from tens of centimeters to millions of kilometers

4. Teleoperation System A teleoperation system consists of a master device - that the operator holds on to - and a slave device - the robotic tool on the other place. A teleoperation system consists of a master device - that the operator holds on to - and a slave device - the robotic tool on the other place.

5. Since the user cannot see the robot directly, he or she must rely on feedback from the robot's worksite. This is presented to the user by way of the interface.

6. Forms of Feedback Live video from video cameras Live video from video cameras Haptic (touch, such as a vibration) Haptic (touch, such as a vibration) Auditory (human ear range) Auditory (human ear range) temperature temperature contact sensors contact sensors sonar images sonar images

7. Sample Teleoperation Setup

8. Common Uses for Controlling Robots in space from earth in space from earth in a nuclear reactor in a nuclear reactor to diffuse a bomb to diffuse a bomb for minimally-invasive surgery. for minimally-invasive surgery.

9. Teleoperation In Space From Earth Space Teleoperation Study Using ARS/A Space Teleoperation Study Using ARS/A ARS/A is Aerospace Robot System for Aoba arm ARS/A is Aerospace Robot System for Aoba arm

10. ARS/A a test-bed to establish technologies for earth-to-space teleoperation. a test-bed to establish technologies for earth-to-space teleoperation. It is composed of a 6-DOF industrial manipulator A-ARM (Aoba-ARM) as a slave and a 6-DOF compact haptic interface as the master arm. It is composed of a 6-DOF industrial manipulator A-ARM (Aoba-ARM) as a slave and a 6-DOF compact haptic interface as the master arm.

11. For planetary surface operations, the European Space Agency initiated a development for teleoperated mini-rovers. For planetary surface operations, the European Space Agency initiated a development for teleoperated mini-rovers. Remote control functions related to autonomous reaction capabilities and sensor data processing on-board the vehicle exhibit interesting transfer potential to industrial and educational teleoperation tasks. Remote control functions related to autonomous reaction capabilities and sensor data processing on-board the vehicle exhibit interesting transfer potential to industrial and educational teleoperation tasks.

12. Activities in space are fundamentally limited by the amount of energy required to raise loads into earth orbit. An additional requirement, when humans are involved, is the expense and additional mass of life support and safety critical systems. Because of these reasons, conducting operations such as protein crystal growth on manned space missions is very expensive. Teleoperation technology can thus have a very substantial impact on the cost of microgravity operations by reducing the number of humans required in space for a given amount of work. Secondly, if the size of the teleoperation slave system is reduced, the cost of launching and housing the robotic system is also reduced.

13. Difficulties communication time delay communication time delay restrictions of communication capacity restrictions of communication capacity limitations of computation power on board limitations of computation power on board These space systems demand a high level of safety and reliability. A mis-operation may induce serious damages to human life or to the space system itself.

14. An example of a slave system based in space

15. Teleoperation in Nuclear Reactors Inspection and maintenance is essential in the nuclear industry. It is not easy to carry out such maintenance tasks since the environments are usually highly radioactive and are unsafe for human workers. The usual way of carrying out inspection and maintenance tasks in these hazardous environments is using long reach fixed base manipulators.

16. Difficulties suffer from low payload capacity relatively large end point deflections. installation and the storage of these long manipulators could be costly.

17. Teleoperation in Diffusing a Bomb Diffusing a bomb can be very unsafe for a human, so we use a robot to do this and operate it from a distance. Diffusing a bomb can be very unsafe for a human, so we use a robot to do this and operate it from a distance.

18. Army readies robot soldier for Iraq MSNBC, Jan 24, 2005 “The Army is preparing to send 18 of these remote- controlled robotic warriors to fight in Iraq beginning in March or April.” Made by a small Massachusetts company these will be the first armed robotic vehicles to see combat. Made by a small Massachusetts company these will be the first armed robotic vehicles to see combat. “Military officials like to compare the roughly three- foot-high robots favorably to human soldiers: They don’t need to be trained, fed or clothed. They can be boxed up and warehoused between wars. They never complain.” “Military officials like to compare the roughly three- foot-high robots favorably to human soldiers: They don’t need to be trained, fed or clothed. They can be boxed up and warehoused between wars. They never complain.” A SWORDS robot shoots only when its human operator presses a button after identifying a target on video shot by the robot’s cameras. A SWORDS robot shoots only when its human operator presses a button after identifying a target on video shot by the robot’s cameras.

20. Teleoperation in Minimally- Invasive Surgeries an operation is performed with instruments and viewing equipment that is inserted into the body through small incisions. an operation is performed with instruments and viewing equipment that is inserted into the body through small incisions.

23. Increase the surgeon's dexterity for difficult aspects of the minimally invasive procedure Increase the surgeon's dexterity for difficult aspects of the minimally invasive procedure Offer better visualization of anatomical structures by immersing the surgeon in a high-resolution three-dimensional image, instead of the two dimensional or "flat" video screen of traditional minimally invasive surgery Offer better visualization of anatomical structures by immersing the surgeon in a high-resolution three-dimensional image, instead of the two dimensional or "flat" video screen of traditional minimally invasive surgery Minimally invasive surgery with robotic technology creates less trauma for the patient, less risk of complications, faster overall recovery time, and a quicker return to normal activities. Minimally invasive surgery with robotic technology creates less trauma for the patient, less risk of complications, faster overall recovery time, and a quicker return to normal activities. da Vinci™ Surgical System, the newest and most advanced technology for minimally invasive surgery (MIS).

24. The surgeon's console with three- dimensional endoscopic viewer and hand controls.

25. The da Vinci Surgical System (Intuitive, Inc., Sunnyvale, CA). Operating room setup with surgeon seated at control console.

26. The da Vinci robot consisting of two manipulation arms and one camera arm.

27. Advantages This minimizes the surgical trauma and damage to the healthy tissue, resulting in shorter patient recovery time. This minimizes the surgical trauma and damage to the healthy tissue, resulting in shorter patient recovery time.

28. Disadvantages Reduced dexterity Reduced dexterity Reduced workspace Reduced workspace Reduced sensory input to surgeon which is only available through a single video image Reduced sensory input to surgeon which is only available through a single video image

29. Video example Soccer Teleoperation Video Soccer Teleoperation Video

30. First Teleoperation Systems The first teleoperation systems were built after the Second World War for needs in nuclear activities. The first teleoperation systems were built after the Second World War for needs in nuclear activities.

31. They used the master-slave concept. They used the master-slave concept. They are composed of two symmetrical arms. They are composed of two symmetrical arms. The master arm is handled by the operator; the slave one replicates the operator motions at the spot where the task has to be performed. The master arm is handled by the operator; the slave one replicates the operator motions at the spot where the task has to be performed.

32. In the earlier systems, master and slave were mechanically connected. In the earlier systems, master and slave were mechanically connected. they were electrically powered giving the possibility of any distance between master and slave. they were electrically powered giving the possibility of any distance between master and slave. In early systems, the absence of sophisticated electronics (mainly computers), obliged to a symmetrical mechanical device to correctly transfer the motions from the operator to the slave device. In early systems, the absence of sophisticated electronics (mainly computers), obliged to a symmetrical mechanical device to correctly transfer the motions from the operator to the slave device.

33. Problems in Teleoperation The unreachable ideal transparency The unreachable ideal transparency Time delay Time delay Industrial robotics is sometimes opposed to teleoperation solutions Industrial robotics is sometimes opposed to teleoperation solutions Reliability and safety Reliability and safety

34. The unreachable ideal transparency One of the most important teleoperator characteristics after stability is transparency. One of the most important teleoperator characteristics after stability is transparency. The goal of teleoperation is to achieve transparency by mimicking human motor and sensory functions The goal of teleoperation is to achieve transparency by mimicking human motor and sensory functions An established fact is that ideal transparency can never be reached by conventional bilateral control unless it is redefined by other criteria or conceived differently. An established fact is that ideal transparency can never be reached by conventional bilateral control unless it is redefined by other criteria or conceived differently.

35. Time Delay Communication time delay between master and slave is very crucial in teleoperation Communication time delay between master and slave is very crucial in teleoperation Time delay affects not only transparency, because the operator actions and feedback are delayed, but also stability Time delay affects not only transparency, because the operator actions and feedback are delayed, but also stability

36. Problems with Industrial Robotics Industrial robotics is sometimes opposed to teleoperation solutions from a flexibility viewpoint. Industrial robotics is sometimes opposed to teleoperation solutions from a flexibility viewpoint. Yet teleoperation flexibility is in many ways dependant on operator adaptation to the teleoperation system. Yet teleoperation flexibility is in many ways dependant on operator adaptation to the teleoperation system. to perform a task the operator must be trained and specialized. to perform a task the operator must be trained and specialized.

37. Reliability and Safety Use of high-powered master/slave devices is very dangerous. Use of high-powered master/slave devices is very dangerous. Powered manipulation arms are very slow devices Powered manipulation arms are very slow devices quick or jerky motions should not be used. quick or jerky motions should not be used.

38. Field of Haptics These machines communicate with humans using movement and forces These machines communicate with humans using movement and forces The most common devices are force- feedback joysticks that can give a certain force back to the user, dependent on the joystick position. The most common devices are force- feedback joysticks that can give a certain force back to the user, dependent on the joystick position. Sometimes the forces are generated from a virtual environment, and sometimes from a real robot somewhere else. In this case, it is called force-reflecting (or haptic) teleoperation. Sometimes the forces are generated from a virtual environment, and sometimes from a real robot somewhere else. In this case, it is called force-reflecting (or haptic) teleoperation.

39. Credits http://www.cs.cmu.edu/~coral- downloads/segway/movies/03-09- Prototype/teleoperation/CM-RMP-23-Jun-03.mpg http://www.cs.cmu.edu/~coral- downloads/segway/movies/03-09- Prototype/teleoperation/CM-RMP-23-Jun-03.mpg http://www.cs.cmu.edu/~coral- downloads/segway/movies/03-09- Prototype/teleoperation/CM-RMP-23-Jun-03.mpg http://www.cs.cmu.edu/~coral- downloads/segway/movies/03-09- Prototype/teleoperation/CM-RMP-23-Jun-03.mpg http://en.wikipedia.org/wiki/Teleoperation http://en.wikipedia.org/wiki/Teleoperation http://en.wikipedia.org/wiki/Teleoperation http://lims.mech.northwestern.edu/projects/teleope ration/ http://lims.mech.northwestern.edu/projects/teleope ration/ http://lims.mech.northwestern.edu/projects/teleope ration/ http://lims.mech.northwestern.edu/projects/teleope ration/ http://robotics.eecs.berkeley.edu/MURI/researchsu mmary/cenk96.html http://robotics.eecs.berkeley.edu/MURI/researchsu mmary/cenk96.html http://robotics.eecs.berkeley.edu/MURI/researchsu mmary/cenk96.html http://robotics.eecs.berkeley.edu/MURI/researchsu mmary/cenk96.html http://www.msnbc.msn.com/id/6852832/ http://www.msnbc.msn.com/id/6852832/