Enhancing Rover Teleoperation on the Moon With Proprioceptive Sensors and Machine Learning Techniques

Coloma, Sofía; Martinez, Carol; Yalçin, Bariş; Olivares-Méndez, Miguel A.

doi:10.1109/lra.2022.3198794

Cited by 10 publications

(2 citation statements)

References 23 publications

(37 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This form of highly autonomous control is particularly effective when there are long time lags between the robot and the operator, preventing the operator from interfering in real time. Commanding the rover on the space is such a good example of this type of teleoperation (Coloma et al , 2022).…”

Section: Related Workmentioning

confidence: 99%

Augmented reality-assisted gesture-based teleoperated system for robot motion planning

Salman

Roman

2023

View full text Add to dashboard Cite

Purpose The study proposed a human–robot interaction (HRI) framework to enable operators to communicate remotely with robots in a simple and intuitive way. The study focused on the situation when operators with no programming skills have to accomplish teleoperated tasks dealing with randomly localized different-sized objects in an unstructured environment. The purpose of this study is to reduce stress on operators, increase accuracy and reduce the time of task accomplishment. The special application of the proposed system is in the radioactive isotope production factories. The following approach combined the reactivity of the operator’s direct control with the powerful tools of vision-based object classification and localization. Design/methodology/approach Perceptive real-time gesture control predicated on a Kinect sensor is formulated by information fusion between human intuitiveness and an augmented reality-based vision algorithm. Objects are localized using a developed feature-based vision algorithm, where the homography is estimated and Perspective-n-Point problem is solved. The 3D object position and orientation are stored in the robot end-effector memory for the last mission adjusting and waiting for a gesture control signal to autonomously pick/place an object. Object classification process is done using a one-shot Siamese neural network (NN) to train a proposed deep NN; other well-known models are also used in a comparison. The system was contextualized in one of the nuclear industry applications: radioactive isotope production and its validation were performed through a user study where 10 participants of different backgrounds are involved. Findings The system was contextualized in one of the nuclear industry applications: radioactive isotope production and its validation were performed through a user study where 10 participants of different backgrounds are involved. The results revealed the effectiveness of the proposed teleoperation system and demonstrate its potential for use by robotics non-experienced users to effectively accomplish remote robot tasks. Social implications The proposed system reduces risk and increases level of safety when applied in hazardous environment such as the nuclear one. Originality/value The contribution and uniqueness of the presented study are represented in the development of a well-integrated HRI system that can tackle the four aforementioned circumstances in an effective and user-friendly way. High operator–robot reactivity is kept by using the direct control method, while a lot of cognitive stress is removed using elective/flapped autonomous mode to manipulate randomly localized different configuration objects. This necessitates building an effective deep learning algorithm (in comparison to well-known methods) to recognize objects in different conditions: illumination levels, shadows and different postures.

show abstract

Section: Related Workmentioning

confidence: 99%

Augmented reality-assisted gesture-based teleoperated system for robot motion planning

Salman

Roman

2023

View full text Add to dashboard Cite

show abstract

“…Surface knowledge and terrain-based planning are considered critical key factors to ensure mission success [ 70 , 71 ]. By knowing the soil’s geotechnical properties, terrain hazards that compromise the operation of rovers or ISRU equipment can be avoided [ 72 , 73 , 74 , 75 ]. All of these risks, findings, and precautionary measures are not only relevant for explorations to the Moon, but for Mars or every other celestial body, only the strategies might differ [ 75 ].…”

Section: Introductionmentioning

confidence: 99%

Geotechnical and Shear Behavior of Novel Lunar Regolith Simulants TUBS-M, TUBS-T, and TUBS-I

et al. 2022

View full text Add to dashboard Cite

The return to the Moon is an important short-term goal of NASA and other international space agencies. To minimize mission risks, technologies, such as rovers or regolith processing systems, must be developed and tested on Earth using lunar regolith simulants that closely resemble the properties of real lunar soil. So far, no singular lunar simulant can cover the multitude of use cases that lunar regolith involves, and most available materials are poorly characterized. To overcome this major gap, a unique modular system for flexible adaptable novel lunar regolith simulants was developed and chemically characterized in earlier works. To supplement this, the present study provides comprehensive investigations regarding geotechnical properties of the three base regolith simulant systems: TUBS-M, TUBS-T, and TUBS-I. To evaluate the engineering and flow properties of these heterogeneous materials under various conditions, shear tests, particle size analyses, scanning electron microscope observations, and density investigations were conducted. It was shown that small grains <25 µm (lunar dust) are highly compressive and cohesive even at low external stress. They are particularly important as a large amount of fine dust is present in lunar regolith and simulants (x50 = 76.7 to 96.0 µm). Further, ring shear and densification tests revealed correlations with damage mechanisms caused by local stress peaks for grains in the mm range. In addition, an explanation for the occurrence of considerable differences in the literature-based data for particle sizes was established by comparing various measurement procedures. The present study shows detailed geotechnical investigations of novel lunar regolith simulants, which can be used for the development of equipment for future lunar exploration missions and in situ resource utilization under realistic conditions. The results also provide evidence about possible correlations and causes of known soil-induced mission risks that so far have mostly been described phenomenologically.

show abstract

Exploring Latency during Long-Distance Robot-Assisted Teleoperation and Construction

Seo,

Chae,

Ham

2024

Computing in Civil Engineering 2023

View full text Add to dashboard Cite

Enhancing Rover Teleoperation on the Moon With Proprioceptive Sensors and Machine Learning Techniques

Cited by 10 publications

References 23 publications

Augmented reality-assisted gesture-based teleoperated system for robot motion planning

Augmented reality-assisted gesture-based teleoperated system for robot motion planning

Geotechnical and Shear Behavior of Novel Lunar Regolith Simulants TUBS-M, TUBS-T, and TUBS-I

Exploring Latency during Long-Distance Robot-Assisted Teleoperation and Construction

Contact Info

Product

Resources

About