Operating Interaction and Teleprogramming for Subsea Manipulation Article Swipe
The teleprogramming paradigm has been proposed as a means to efficiently perform teleoperation in the subsea environment via an acoustical link. In such a system the effects of both limited bandwidth channels and delayed communications are overcome by transmitting not Cartesian or joint level information but rather symbolic, error-tolerant, program instructions to the remote site. The operator interacts with a virtual reality of the remote site which provides immediate visual and kinesthetic feedback. The uncertainty in this model can be reduced based on information received from the slave manipulator's tactile contact with the environment. It is suggested that the current state of the model be made available to the operator via a graphical display which shows not only the position of objects at the remote site but also, through the use of color clues, the uncertainty associated with those positions. The provision of uncertainty information is important since it allows the operator to compromise between speed and accuracy. An additional operator aid, which we term synthetic fixturing, is proposed. Synthetic fixtures provide the operator of the teleprogramming system with the teleoperation equivalent of the "snap" commands common in computer aided design programs. By guiding the position and/or orientation of the master manipulator toward specific points, lines or planes the system is able to increase both the speed and precision with which the operator can control the slave arm without requiring sophisticated hardware.
Related Topics
Concepts
Teleoperation
Operator (biology)
Computer science
Subsea
Orientation (vector space)
Remote operation
Simulation
Telerobotics
Robot
Real-time computing
Control engineering
Human–computer interaction
Engineering
Artificial intelligence
Mobile robot
Telecommunications
Geometry
Marine engineering
Gene
Chemistry
Repressor
Transcription factor
Mathematics
Biochemistry
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://repository.upenn.edu/cis_reports/449
- https://repository.upenn.edu/cgi/viewcontent.cgi?article=1462&context=cis_reports
- OA Status
- green
- Cited By
- 1
- References
- 16
- Related Works
- 20
- OpenAlex ID
- https://openalex.org/W78335685
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
-
https://openalex.org/W78335685Canonical identifier for this work in OpenAlex
- Title
-
Operating Interaction and Teleprogramming for Subsea ManipulationWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
1992Year of publication
- Publication date
-
1992-01-01Full publication date if available
- Authors
-
Craig Sayers, Richard P. Paul, Max MintzList of authors in order
- Landing page
-
https://repository.upenn.edu/cis_reports/449Publisher landing page
- PDF URL
-
https://repository.upenn.edu/cgi/viewcontent.cgi?article=1462&context=cis_reportsDirect link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
-
https://repository.upenn.edu/cgi/viewcontent.cgi?article=1462&context=cis_reportsDirect OA link when available
- Concepts
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Teleoperation, Operator (biology), Computer science, Subsea, Orientation (vector space), Remote operation, Simulation, Telerobotics, Robot, Real-time computing, Control engineering, Human–computer interaction, Engineering, Artificial intelligence, Mobile robot, Telecommunications, Geometry, Marine engineering, Gene, Chemistry, Repressor, Transcription factor, Mathematics, BiochemistryTop concepts (fields/topics) attached by OpenAlex
- Cited by
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1Total citation count in OpenAlex
- References (count)
-
16Number of works referenced by this work
- Related works (count)
-
20Other works algorithmically related by OpenAlex
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| abstract_inverted_index.the | 14, 25, 52, 63, 86, 92, 98, 102, 108, 118, 123, 129, 134, 150, 172, 175, 179, 183, 194, 199, 208, 215, 221, 225 |
| abstract_inverted_index.use | 130 |
| abstract_inverted_index.via | 17, 110 |
| abstract_inverted_index.able | 211 |
| abstract_inverted_index.aid, | 161 |
| abstract_inverted_index.been | 4 |
| abstract_inverted_index.both | 28, 214 |
| abstract_inverted_index.from | 85 |
| abstract_inverted_index.made | 105 |
| abstract_inverted_index.only | 117 |
| abstract_inverted_index.site | 65, 125 |
| abstract_inverted_index.such | 22 |
| abstract_inverted_index.term | 164 |
| abstract_inverted_index.that | 97 |
| abstract_inverted_index.this | 76 |
| abstract_inverted_index.with | 58, 91, 137, 178, 219 |
| abstract_inverted_index.aided | 189 |
| abstract_inverted_index.also, | 127 |
| abstract_inverted_index.based | 81 |
| abstract_inverted_index.color | 132 |
| abstract_inverted_index.joint | 42 |
| abstract_inverted_index.level | 43 |
| abstract_inverted_index.lines | 205 |
| abstract_inverted_index.link. | 20 |
| abstract_inverted_index.means | 8 |
| abstract_inverted_index.model | 77, 103 |
| abstract_inverted_index.shows | 115 |
| abstract_inverted_index.since | 147 |
| abstract_inverted_index.site. | 54 |
| abstract_inverted_index.slave | 87, 226 |
| abstract_inverted_index.speed | 155, 216 |
| abstract_inverted_index.state | 100 |
| abstract_inverted_index.those | 138 |
| abstract_inverted_index.which | 66, 114, 162, 220 |
| abstract_inverted_index."snap" | 184 |
| abstract_inverted_index.allows | 149 |
| abstract_inverted_index.and/or | 196 |
| abstract_inverted_index.clues, | 133 |
| abstract_inverted_index.common | 186 |
| abstract_inverted_index.design | 190 |
| abstract_inverted_index.master | 200 |
| abstract_inverted_index.planes | 207 |
| abstract_inverted_index.rather | 46 |
| abstract_inverted_index.remote | 53, 64, 124 |
| abstract_inverted_index.subsea | 15 |
| abstract_inverted_index.system | 24, 177, 209 |
| abstract_inverted_index.toward | 202 |
| abstract_inverted_index.visual | 69 |
| abstract_inverted_index.between | 154 |
| abstract_inverted_index.contact | 90 |
| abstract_inverted_index.control | 224 |
| abstract_inverted_index.current | 99 |
| abstract_inverted_index.delayed | 33 |
| abstract_inverted_index.display | 113 |
| abstract_inverted_index.effects | 26 |
| abstract_inverted_index.guiding | 193 |
| abstract_inverted_index.limited | 29 |
| abstract_inverted_index.objects | 121 |
| abstract_inverted_index.perform | 11 |
| abstract_inverted_index.points, | 204 |
| abstract_inverted_index.program | 49 |
| abstract_inverted_index.provide | 171 |
| abstract_inverted_index.reality | 61 |
| abstract_inverted_index.reduced | 80 |
| abstract_inverted_index.tactile | 89 |
| abstract_inverted_index.through | 128 |
| abstract_inverted_index.virtual | 60 |
| abstract_inverted_index.without | 228 |
| abstract_inverted_index.channels | 31 |
| abstract_inverted_index.commands | 185 |
| abstract_inverted_index.computer | 188 |
| abstract_inverted_index.fixtures | 170 |
| abstract_inverted_index.increase | 213 |
| abstract_inverted_index.operator | 56, 109, 151, 160, 173, 222 |
| abstract_inverted_index.overcome | 36 |
| abstract_inverted_index.paradigm | 2 |
| abstract_inverted_index.position | 119, 195 |
| abstract_inverted_index.proposed | 5 |
| abstract_inverted_index.provides | 67 |
| abstract_inverted_index.received | 84 |
| abstract_inverted_index.specific | 203 |
| abstract_inverted_index.Cartesian | 40 |
| abstract_inverted_index.Synthetic | 169 |
| abstract_inverted_index.accuracy. | 157 |
| abstract_inverted_index.available | 106 |
| abstract_inverted_index.bandwidth | 30 |
| abstract_inverted_index.feedback. | 72 |
| abstract_inverted_index.graphical | 112 |
| abstract_inverted_index.hardware. | 231 |
| abstract_inverted_index.immediate | 68 |
| abstract_inverted_index.important | 146 |
| abstract_inverted_index.interacts | 57 |
| abstract_inverted_index.precision | 218 |
| abstract_inverted_index.programs. | 191 |
| abstract_inverted_index.proposed. | 168 |
| abstract_inverted_index.provision | 141 |
| abstract_inverted_index.requiring | 229 |
| abstract_inverted_index.suggested | 96 |
| abstract_inverted_index.symbolic, | 47 |
| abstract_inverted_index.synthetic | 165 |
| abstract_inverted_index.acoustical | 19 |
| abstract_inverted_index.additional | 159 |
| abstract_inverted_index.associated | 136 |
| abstract_inverted_index.compromise | 153 |
| abstract_inverted_index.equivalent | 181 |
| abstract_inverted_index.fixturing, | 166 |
| abstract_inverted_index.positions. | 139 |
| abstract_inverted_index.efficiently | 10 |
| abstract_inverted_index.environment | 16 |
| abstract_inverted_index.information | 44, 83, 144 |
| abstract_inverted_index.kinesthetic | 71 |
| abstract_inverted_index.manipulator | 201 |
| abstract_inverted_index.orientation | 197 |
| abstract_inverted_index.uncertainty | 74, 135, 143 |
| abstract_inverted_index.environment. | 93 |
| abstract_inverted_index.instructions | 50 |
| abstract_inverted_index.transmitting | 38 |
| abstract_inverted_index.manipulator's | 88 |
| abstract_inverted_index.sophisticated | 230 |
| abstract_inverted_index.teleoperation | 12, 180 |
| abstract_inverted_index.communications | 34 |
| abstract_inverted_index.error-tolerant, | 48 |
| abstract_inverted_index.teleprogramming | 1, 176 |
| cited_by_percentile_year | |
| countries_distinct_count | 1 |
| institutions_distinct_count | 3 |
| sustainable_development_goals[0].id | https://metadata.un.org/sdg/14 |
| sustainable_development_goals[0].score | 0.4399999976158142 |
| sustainable_development_goals[0].display_name | Life below water |
| citation_normalized_percentile.value | 0.68314043 |
| citation_normalized_percentile.is_in_top_1_percent | False |
| citation_normalized_percentile.is_in_top_10_percent | False |