Robotics in Hazardous Applications

Trevelyan, James; Hamel, W.R.; Kang, Sungchul

doi:10.1007/978-3-319-32552-1_58

Cited by 58 publications

(35 citation statements)

References 29 publications

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“…When a high degree of situational awareness is required (e.g., in applications like reconnaissance or search-and-rescue operations in unpredictable or hazardous environments; Trevelyan et al, 2016 ), a 3PP might provide a better awareness of the environment compared to a 1PP (van Erp and Kappé, 1997 ). In that case, embodiment of a device seen from a 3PP requires additional reinforcement in the form of synchronous visuotactile information.…”

Section: Discussion and Research Questionsmentioning

confidence: 99%

Toward Enhanced Teleoperation Through Embodiment

et al. 2020

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Telerobotics aims to transfer human manipulation skills and dexterity over an arbitrary distance and at an arbitrary scale to a remote workplace. A telerobotic system that is transparent enables a natural and intuitive interaction. We postulate that embodiment (with three sub-components: sense of ownership, agency, and self-location) of the robotic system leads to optimal perceptual transparency and increases task performance. However, this has not yet been investigated directly. We reason along four premises and present findings from the literature that substantiate each of them: (1) the brain can embody non-bodily objects (e.g., robotic hands), (2) embodiment can be elicited with mediated sensorimotor interaction, (3) embodiment is robust against inconsistencies between the robotic system and the operator's body, and (4) embodiment positively correlates to dexterous task performance. We use the predictive encoding theory as a framework to interpret and discuss the results reported in the literature. Numerous previous studies have shown that it is possible to induce embodiment over a wide range of virtual and real extracorporeal objects (including artificial limbs, avatars, and android robots) through mediated sensorimotor interaction. Also, embodiment can occur for non-human morphologies including for elongated arms and a tail. In accordance with the predictive encoding theory, none of the sensory modalities is critical in establishing ownership, and discrepancies in multisensory signals do not necessarily lead to loss of embodiment. However, large discrepancies in terms of multisensory synchrony or visual likeness can prohibit embodiment from occurring. The literature provides less extensive support for the link between embodiment and (dexterous) task performance. However, data gathered with prosthetic hands do indicate a positive correlation. We conclude that all four premises are supported by direct or indirect evidence in the literature, suggesting that embodiment of a remote manipulator may improve dexterous performance in telerobotics. This warrants further implementation testing of embodiment in telerobotics. We formulate a first set of guidelines to apply embodiment in telerobotics and identify some important research topics.

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Section: Discussion and Research Questionsmentioning

confidence: 99%

Toward Enhanced Teleoperation Through Embodiment

et al. 2020

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“…Robots (autonomous mobile platforms) offer solutions for fast and efficient building that do not risk human lives, especially in contaminated areas, under extreme environmental conditions (eg, winds, floods, extreme cold, or sandstorms), or in unsafe and nonsecure terrains. [35][36][37] Autonomous mobile platforms may also operate within the space of health care facilities and improve performance and efficacy in a complex, cluttered environment that has unpredictable obstacles, 38 reduce the number of people needed, and may even be programmed to overcome verbal communication problems from assorted languages.…”

Section: Innovative Building Methodsmentioning

confidence: 99%

Portable Health Care Facilities in Disaster and Rescue Zones: Characteristics and Future Suggestions

Bitterman

Zimmer

2018

Prehosp. Disaster med.

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Future directions include the use of innovative materials, advanced working methods, and integrated transportation systems. In addition, a holistic approach should be developed to improve the performance, accessibility, time required to function, sustainability, flexibility, and modularity of portable health care facilities.Bitterman N, Zimmer Y. Portable health care facilities in disaster and rescue zones: characteristics and future suggestions. Prehosp Disaster Med. 2018;33(4):411-417.

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“…The spectrum of related tasks include fire fighting, rescue operations, demining operations, underwater operations, outer space operations, bomb disposal etc. In order to prevent direct exposure of a human to such hazardous environments, a variety of systems are being developed [50]. The majority of them are based on a principle of teleoperator placement at a safe remote site equipped with an interactive environment that provides visual feedback and robotic control needed for remote system management.…”

Section: Telepresence Systems In Hazardous Environmentsmentioning

confidence: 99%

Reconfigurable platform for 3D-panoramic telepresence system for mobile applications

Saakov¹

2021

Preprint

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The concept of telepresence allows human beings to interact with hazardous environments and situations without facing any actual risks. Examples include the nuclear industry, outer space and underwater operations, mining, bomb disposal and firefighting. Recent progress in digital system technology, especially in technology of reconfigurable logic devices (e.g. FPGA), allows the effective implementation of advanced embedded systems characterized by high-performance data processing and high-bandwidth communication. However, most of the existing telepresence systems do not benefit from these advancements. Therefore, the goal of this work was to develop a concept and architecture of the platform for the 3D-Panoramic Telepresence System for mobile robotic applications based on reconfigurable logic devices. During the development process, two versions of the system were implemented. The first system focused on feasibility testing of major components of the proposed architecture. Based on the experimental results obtained on the first prototype of the system and their analyses, a set of recommendations were derived for an updated version of the system. These recommendations were incorporated into the implementation of the second and final version of the system.

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Robotics in Hazardous Applications

Cited by 58 publications

References 29 publications

Toward Enhanced Teleoperation Through Embodiment

Toward Enhanced Teleoperation Through Embodiment

Portable Health Care Facilities in Disaster and Rescue Zones: Characteristics and Future Suggestions

Reconfigurable platform for 3D-panoramic telepresence system for mobile applications

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