Evaluation of the effects of user profile and interface characteristics on performance during robotic teleoperation.
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2018
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Resumo
In the mining industry, operator safety has always been a crucial point, and therefore
demands attention. In addition, given the high investments made in the enterprise, the
search for a consistent and e cient production process is also relevant. To increase productivity and safety, teleoperation techniques can be used to allow the operator to be
removed from the risk areas and operate the equipment from a safe distance.
The work presented in this master's thesis was developed at the Instituto Tecnológico
Vale (ITV) as a part of a broader project that aims the development of a conceptual
framework that enables the analysis and validation of the application of teleoperation
techniques in mining equipment. These equipment could be either used for exploration,
engineering or extraction. More speci cally, this framework will permit the analysis of
relevant information for teleoperation. This work represents the initial step taken, which
comprises the execution of proof-of-concept tests in laboratory using a robotic system.
Di erent teleoperation interfaces schemes consisting of video and haptic devices are
analyzed under di erent aspects and the user point of view is taken into account. The
goal is to analyze the e ects of the force feedback and of di erent visual feedback during
teleoperation and to evaluate which prede ned users characteristics can contribute to
better performance during teleoperation.
Experimental tests were performed using a commercial mobile robotic platform Seekur
Jr and teleoperation interfaces consisting of the haptic devices Novint Falcon and Geomagic Touch. This platform can be programmed in such a way that it operates emulating
a mining equipment. For practical application-oriented tests, di erent operations from a
mining process can be used as application of study (e.g. explosive charging or excavators operations). For the purposes of this work, interfaces for the control of the robotic
platform locomotion were analyzed.
In order to evaluate the in uence of interface characteristics and users pro le on performance during teleoperation two experiments were conducted. The experiments consisted
of guiding the robotic platform in a scenario containing obstacles, using the di erent interfaces. In this work, delays in communication during teleoperation were not addressed.
Results show that the use of force feedback e ectively contributes for better performances
in term of task execution time, number of collisions with obstacles and task completion in
teleoperation activities. Moreover, additional visual information, such as the environment
map, can also increase perception of obstacles.
Descrição
Programa de Pós-Graduação em Instrumentação, Controle e Automação de Processos de Mineração. Departamento de Engenharia de Controle e Automação, Escola de Minas, Universidade Federal de Ouro Preto.
Palavras-chave
Teleoperation, Mining, Haptic devices, Evaluation methodology
Citação
FIDÊNCIO, Aline Xavier. Evaluation of the effects of user profile and interface characteristics on performance during robotic teleoperation. 2018. 111 f. Dissertação (Mestrado em Instrumentação, Controle e Automação de Processos de Mineração) - Escola de Minas, Universidade Federal de Ouro Preto, Ouro Preto, 2018.
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