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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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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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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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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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Remote Interaction with Machines
Project Overview
Please Use Arial Font
throughout the
presentation
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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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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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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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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).
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