Development for teleoperation underwater grasping system in unclear environment

Abstract

Hydraulic Grabs are capable of placing and removing of underwater structures without hitch by divers. However, grab operators are unable to observe states of the grabs and the objects when the turbidness of water disturbs observation by TV cameras. For this reason, operators still need support and observation of divers during positioning of the grab and grasping the object. Therefore, this paper proposes a remotely controlled system that can support operators by representing the motion of the grab and the shape of the objects using sensor data and VR technology. Two types grab models are developed and experiments are carryed out. The experimental result show the validity of the proposed remotely controlled system for unclear environment.

A Meta-Analysis of the Effects of Haptic Interfaces on Task Performance with Teleoperation Systems

“…Teleoperated vehicles have been employed in warfare [1] and underwater exploration [2]. Robot-assisted teleoperation systems are frequently applied to surgery [3], and attempts have been made to use teleoperated systems for live-line maintenance [4], search and rescue operations [5], education [6], and care of the disabled and the elderly [7].…”

Augmented reality applications in manufacturing: a survey

“…AR-based tele-robotic applications have been developed to allow tele-operations and inspections of equipment in difficult and/or hazardous environments, such as inspection of a nuclear reactor (Corby and Nafis 1995), as well as in circumstances where there are poor visual conditions (Casals et al 2002, Utsumi et al 2002. Lawson and Pretlove (1999) and Lawson et al (2002) developed AR-based teleoperation techniques for enhanced visual analysis and task performance in hostile environments, namely underground sewage pipes.…”

A Bilateral Control System to Synchronize with Haptic and Visual Sense for Teleoperation over Network

“…Human beings can manipulate a slave robot in space (4) , water (5) , nuclear plants (6) and so on, as if they are in the remote place. Recently, applications of these technologies are expanded to medical, communication and industry fields (7) .…”