Remote Interaction With Machines

brainystitchAI and Robotics

Nov 14, 2013 (3 years and 1 month ago)

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1

Remote Interaction With Machines

Principal Investigator: Vincenzo Liberatore

Task Number: NAG3
-
2578


Case Western Reserve University

September 18, 2002

NASA Space

Communications Symposium


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2

Remote Interaction with Machines

Project Overview

Start date:
March 2001

Team members:

Prof. Vincenzo Liberatore (PI),

Prof. Wyatt Newman (co
-
PI), David Rosas, Adam Covitch


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3

Remote Interaction with Machines

Project Overview

Description:


Communication between humans and intelligent systems
(e.g., robots)


Software support over IP


Challenges:


Decouple control from


Precise environment modeling


Long
-
haul network delays


Lack of Quality
-
of
-
Service provisioning


Software


Remote programming


Adaptive and evolvable


Security and safety


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4

Remote Interaction with Machines

Project Overview

Virtual Attractors

A “gentle” robot informs its
supervisor that it can be
controlled by specifying the
motion of a virtual, soft attractor
(illustrated conceptually at right).
This interface is low bandwidth
and tolerant of variable
-
quality
communications.

Attractor

Platform

origin

Tool tip

External force

Orientational springs

and dampers

Translational springs

and dampers


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Remote Interaction with Machines

Project Overview

Distributed Control: Agents


IP networks


Supervisory control


Agent
-
based: distributed, mobile, adaptive, secure


Evolvable software


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Remote Interaction with Machines

Project Overview

Distributed Control: Agents



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7

Remote Interaction with Machines

Project Overview

Please Use Arial Font
throughout the
presentation


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8

Remote Interaction with Machines

Enterprise Relevance and Impact

Enterprise Relevance:

At higher TRL, the project will support
multiple Nasa missions and
the rapid evolution and retargeting of robots available in space
:

-
Use the space environment as a lab to test the fundamental
principles of physics, chemistry, and biology
. E.g., communication
with intelligent systems at IIS experimental facility.

-
Biological and Physical Research
. E.g., communication with small
autonomous spacecrafts for biological and physical research.

-
Commerce
. E.g., “rent” IIS equipment time to Earth
-
bound labs.

-
Outreach
. E.g., selective tele
-
presence in space.

-
Support Human Space Flight
. E.g., specimen collection.

-
Explore the Space Frontier.
E.g., human
-
robotic missions:
communication human
-
robot.

-
Space Science Technology.
E.g., human
-
robotic inhabitation of
Mars.

-
Improve the Human Condition on Earth
.

E.g., space power plants



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9

Remote Interaction with Machines

Enterprise Relevance and Impact

Impact:
Improves on current technology in that it supports


Supervisory control:
Beyond tele
-
operation and autonomy


Cross
-
mission

communication technology for the interaction
between human and intelligent systems


Dynamic reconfiguration

(creation of new collections of sensors,
actuators, transmitters, computers, robots, vehicles, instruments, …,
into coordinated, task
-
oriented teams)


Rapid
re
-
programmability

(addition of new functionality after
hardware deployment)


Extensibility
(growth through modular incorporation of additional
assets)


Survivability
(automatic reallocation of communications software in
response to component failures or aging)


Fault tolerance

(insensitive to unpredictable communications delays,
jitter, drop
-
outs)


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10

Remote Interaction with Machines

Milestones
-

Technical Accomplishments and Schedules

Due Date

Milestone Description

Tech Accomplishments

1

September 2002

Remote control of the Paradex
robot to open valves, turn
cranks, and manipulate
switches through direct tele
-
operation, straight IP
connectivity, and long
-
delay
emulation.

Prototype of a distributed
agent
-
based system for the
remote interaction of human
experts with intelligent
systems.

Schedule Status

Schedule Deviation

Completed on schedule

NONE

Wide
-
area

Emulator

(e.g., 200ms

delay)


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11

Remote Interaction with Machines

Funding Issues

NONE





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12

Task Title Placed Here

Future Plans

Event

Goals

1

Porting to advanced off
-
the
-
shelf agent platform (e.g.,
Aglets) (December 2002)

The capabilities of the current prototype are
implemented over Aglets/Java or similar agent
support middleware. The benefits of this
agent
-
support platform are identified and
reported.


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13

Task Title Placed Here

Papers and Awards

[1] M. L. Ngai, V. Liberatore, and W. S. Newman. An Experiment in
Remote Robotics.
2002 IEEE International Conference on
Robotics and Automation (ICRA 2002),

2190
-
2195.

[2] V. Liberatore. Scheduling of Network Access for Feedback
-
based
Embedded Systems.
Quality of Service over Next
-
Generation
Internet, SPIE ITCom 2002
, 73
-
82.

[3] D. Rosas.
Multi
-
Agent Supervision of Generic Robots.

M.S.
Thesis, Case Western Reserve University, 2002. (Advisors: V.
Liberatore and W. S. Newman).

[4] D. Rosas, A. Covitch, M. Kose, V. Liberatore, W. S. Newman.
Compliant Control and Software Agents for Internet Robotics.
(Submitted).