SLIDE 1
Description
Create a virtual environment from robot sensors Allow operator to control robot by manipulating it
within the virtual environment
Conduct research into effect of latency, optimal
Graeme Smith Supervisors: Dr James Gain Description Create a - - PowerPoint PPT Presentation
Graeme Smith Supervisors: Dr James Gain Description Create a - - PowerPoint PPT Presentation
Jason Brownbridge Graeme Smith Supervisors: Dr James Gain Description Create a virtual environment from robot sensors Allow operator to control robot by manipulating it within the virtual environment Conduct research into effect of
SLIDE 2
SLIDE 3
Background (1) - Wii
What is the Wii? Why?
Allows us to implement
Head Tracking Haptic Feedback Audio Feedback Provide Control Mechanism
Relatively Cheap (< R500) Readily Available Freely Available SDKs
Wiimote Wii Nunchuck
SLIDE 4
Background (2) - Robots
- Rescue Robots
- World Trade Centre 2001
- South Africa mine rescues
- Surveillance Robots
- Military
SLIDE 5
Headband containing infrared sources Stereoscopic headset Wiimotes mounted
- n backpack
Backpack containing laptop Nunchuck
System
- Robot
- Headtracking
- Driving Control
- Simulator
SLIDE 6
Research
Covers both Teleoperation and Virtual Environments We will address the following key questions:
1.
What role does latency play in camera control and how can it be mitigated?
2.
What role does latency play in driver control and how can it be mitigated?
3.
What is an optimal function for acceleration control?
4.
How does our system perform in comparison to a traditional joystick monitor systems?
How?
SLIDE 7
Experimentation
Methodology
User based and Quantitative
Ethical Issues
Simulator sickness
Experiments
1.
Different Latency Mitigation Strategies
Effect on simulation sickness – use a questionnaire
2.
Different Acceleration Functions
Effect on performance – use metric of navigation time
3.
Comparison of new System with Traditional System using the following metrics
Navigation Time
Task Performance Rate
Learning Time
SLIDE 8
Dividing of Work
- System
- Simulator
Graeme
- Robot Control
Graeme
- Lag issues
- Acceleration function
SLIDE 9
Initial System Prototype Incorporation of Experimental Results based on Final User Testing