Teleoperation and Visualization Interfaces for Remote Intervention in Space

Approaches to robotic manufacturing, assembly, and servicing of in-space assets range from autonomous operation to direct teleoperation, with many forms of semi-autonomous teleoperation in between. Because most approaches require one or more human operators at some level, it is important to explore...

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Autores principales:	Peter Kazanzides, Balazs P. Vagvolgyi, Will Pryor, Anton Deguet, Simon Leonard, Louis L. Whitcomb
Formato:	article
Lenguaje:	EN
Publicado:	Frontiers Media S.A. 2021
Materias:	space robotics teleoperation scene modeling model-mediated control satellite servicing Mechanical engineering and machinery TJ1-1570 Electronic computers. Computer science QA75.5-76.95
Acceso en línea:	https://doaj.org/article/371d0e4902ca4fc88ec312ef742589f1
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id	oai:doaj.org-article:371d0e4902ca4fc88ec312ef742589f1
record_format	dspace
spelling	oai:doaj.org-article:371d0e4902ca4fc88ec312ef742589f12021-12-02T00:07:22ZTeleoperation and Visualization Interfaces for Remote Intervention in Space2296-914410.3389/frobt.2021.747917https://doaj.org/article/371d0e4902ca4fc88ec312ef742589f12021-12-01T00:00:00Zhttps://www.frontiersin.org/articles/10.3389/frobt.2021.747917/fullhttps://doaj.org/toc/2296-9144Approaches to robotic manufacturing, assembly, and servicing of in-space assets range from autonomous operation to direct teleoperation, with many forms of semi-autonomous teleoperation in between. Because most approaches require one or more human operators at some level, it is important to explore the control and visualization interfaces available to those operators, taking into account the challenges due to significant telemetry time delay. We consider one motivating application of remote teleoperation, which is ground-based control of a robot on-orbit for satellite servicing. This paper presents a model-based architecture that: 1) improves visualization and situation awareness, 2) enables more effective human/robot interaction and control, and 3) detects task failures based on anomalous sensor feedback. We illustrate elements of the architecture by drawing on 10 years of our research in this area. The paper further reports the results of several multi-user experiments to evaluate the model-based architecture, on ground-based test platforms, for satellite servicing tasks subject to round-trip communication latencies of several seconds. The most significant performance gains were obtained by enhancing the operators’ situation awareness via improved visualization and by enabling them to precisely specify intended motion. In contrast, changes to the control interface, including model-mediated control or an immersive 3D environment, often reduced the reported task load but did not significantly improve task performance. Considering the challenges of fully autonomous intervention, we expect that some form of teleoperation will continue to be necessary for robotic in-situ servicing, assembly, and manufacturing tasks for the foreseeable future. We propose that effective teleoperation can be enabled by modeling the remote environment, providing operators with a fused view of the real environment and virtual model, and incorporating interfaces and control strategies that enable interactive planning, precise operation, and prompt detection of errors.Peter KazanzidesPeter KazanzidesBalazs P. VagvolgyiWill PryorWill PryorAnton DeguetSimon LeonardLouis L. WhitcombLouis L. WhitcombLouis L. WhitcombFrontiers Media S.A.articlespace roboticsteleoperationscene modelingmodel-mediated controlsatellite servicingMechanical engineering and machineryTJ1-1570Electronic computers. Computer scienceQA75.5-76.95ENFrontiers in Robotics and AI, Vol 8 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	space robotics teleoperation scene modeling model-mediated control satellite servicing Mechanical engineering and machinery TJ1-1570 Electronic computers. Computer science QA75.5-76.95
spellingShingle	space robotics teleoperation scene modeling model-mediated control satellite servicing Mechanical engineering and machinery TJ1-1570 Electronic computers. Computer science QA75.5-76.95 Peter Kazanzides Peter Kazanzides Balazs P. Vagvolgyi Will Pryor Will Pryor Anton Deguet Simon Leonard Louis L. Whitcomb Louis L. Whitcomb Louis L. Whitcomb Teleoperation and Visualization Interfaces for Remote Intervention in Space
description	Approaches to robotic manufacturing, assembly, and servicing of in-space assets range from autonomous operation to direct teleoperation, with many forms of semi-autonomous teleoperation in between. Because most approaches require one or more human operators at some level, it is important to explore the control and visualization interfaces available to those operators, taking into account the challenges due to significant telemetry time delay. We consider one motivating application of remote teleoperation, which is ground-based control of a robot on-orbit for satellite servicing. This paper presents a model-based architecture that: 1) improves visualization and situation awareness, 2) enables more effective human/robot interaction and control, and 3) detects task failures based on anomalous sensor feedback. We illustrate elements of the architecture by drawing on 10 years of our research in this area. The paper further reports the results of several multi-user experiments to evaluate the model-based architecture, on ground-based test platforms, for satellite servicing tasks subject to round-trip communication latencies of several seconds. The most significant performance gains were obtained by enhancing the operators’ situation awareness via improved visualization and by enabling them to precisely specify intended motion. In contrast, changes to the control interface, including model-mediated control or an immersive 3D environment, often reduced the reported task load but did not significantly improve task performance. Considering the challenges of fully autonomous intervention, we expect that some form of teleoperation will continue to be necessary for robotic in-situ servicing, assembly, and manufacturing tasks for the foreseeable future. We propose that effective teleoperation can be enabled by modeling the remote environment, providing operators with a fused view of the real environment and virtual model, and incorporating interfaces and control strategies that enable interactive planning, precise operation, and prompt detection of errors.
format	article
author	Peter Kazanzides Peter Kazanzides Balazs P. Vagvolgyi Will Pryor Will Pryor Anton Deguet Simon Leonard Louis L. Whitcomb Louis L. Whitcomb Louis L. Whitcomb
author_facet	Peter Kazanzides Peter Kazanzides Balazs P. Vagvolgyi Will Pryor Will Pryor Anton Deguet Simon Leonard Louis L. Whitcomb Louis L. Whitcomb Louis L. Whitcomb
author_sort	Peter Kazanzides
title	Teleoperation and Visualization Interfaces for Remote Intervention in Space
title_short	Teleoperation and Visualization Interfaces for Remote Intervention in Space
title_full	Teleoperation and Visualization Interfaces for Remote Intervention in Space
title_fullStr	Teleoperation and Visualization Interfaces for Remote Intervention in Space
title_full_unstemmed	Teleoperation and Visualization Interfaces for Remote Intervention in Space
title_sort	teleoperation and visualization interfaces for remote intervention in space
publisher	Frontiers Media S.A.
publishDate	2021
url	https://doaj.org/article/371d0e4902ca4fc88ec312ef742589f1
work_keys_str_mv	AT peterkazanzides teleoperationandvisualizationinterfacesforremoteinterventioninspace AT peterkazanzides teleoperationandvisualizationinterfacesforremoteinterventioninspace AT balazspvagvolgyi teleoperationandvisualizationinterfacesforremoteinterventioninspace AT willpryor teleoperationandvisualizationinterfacesforremoteinterventioninspace AT willpryor teleoperationandvisualizationinterfacesforremoteinterventioninspace AT antondeguet teleoperationandvisualizationinterfacesforremoteinterventioninspace AT simonleonard teleoperationandvisualizationinterfacesforremoteinterventioninspace AT louislwhitcomb teleoperationandvisualizationinterfacesforremoteinterventioninspace AT louislwhitcomb teleoperationandvisualizationinterfacesforremoteinterventioninspace AT louislwhitcomb teleoperationandvisualizationinterfacesforremoteinterventioninspace
_version_	1718403919217950720

Teleoperation and Visualization Interfaces for Remote Intervention in Space

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