IMPROVING PERFORMANCE OF A REMOTE ROBOTIC TELEOPERATION .
IMPROVING PERFORMANCE OF A REMOTE ROBOTICTELEOPERATION OVER THE INTERNETA THESIS SUBMITTED TOTHE GRADUATE SCHOOL OF NATURAL AND APPLIED SCIENCESOFMIDDLE EAST TECHNICAL UNIVERSITYBYMEHMET SELÇUK ARSLANIN PARTIAL FULFILLMENT OF THE REQUIREMENTSFORTHE DEGREE OF MASTER OF SCIENCEINMECHANICAL ENGINEERINGAUGUST 2005
Approval of the Graduate School of Natural and Applied SciencesProf. Dr. Canan ÖZGENDirectorI certify that this thesis satisfies all the requirements as a thesis for the degree ofMaster of Science.Prof. Dr. S. Kemal İDERHead of DepartmentThis is to certify that we have read this thesis and that in our opinion it is fullyadequate, in scope and quality, as a thesis for the degree of Master of Science.Asst. Prof. Dr. E. İlhan KonuksevenSupervisorExamining Committee MembersProf. Dr. M. Kemal ÖZGÖREN(METU ME)Asst. Prof. Dr. E. İlhan Konukseven (METU ME)Asst. Prof. Dr. Melik DÖLEN(METU ME)Asst. Prof. Dr. A. Buğra KOKU(METU MEProf. Dr. İsmet ERKMEN(METU EE)
I hereby declare that all information in this document has been obtainedand presented in accordance with academic rules and ethical conduct. Ialso declare that, as required by these rules and conduct, I have fully citedand referenced all material and results that are not original to this work.Name, Last name: Mehmet Selçuk ARSLANSignature:iii
ABSTRACTIMPROVING PERFORMANCE OF A REMOTE ROBOTICTELEOPERATION OVER THE INTERNETARSLAN, Mehmet SelçukM. Sc., Department of Mechanical EngineeringSupervisor: Asst. Prof. Dr. E. İlhan KonuksevenAugust 2005, 180 pagesIn this thesis study, it is aimed to improve the performance of an Internet-basedteleoperation system enabling the remote operation of a 6 DOF industrial robot.In order to improve the safety and efficiency of the teleoperation, stability andsynchronization (hand-eye coordination) are considered.The selected communication medium between the human operator and remoterobot is the Internet. The variable time delays and nondeterministiccharacteristics of the Internet may lead to instability of the teleoperationsystem. Considering the disturbing effects of the Internet onto the transmission,an event-based control approach is used in order to improve the stability of theteleoperation system. Besides, a visual feedback system is developed and aforce-feedback mouse is designed in order to improve synchronization betweenthe human operator and robot during the command generation according to theiv
feedback obtained from the control system. A client-server software applicationis developed to interface the human operator with remote environment.It is observed that, using the event-based control approach in the operationmakes the teleoperation stable and improves the synchronization ability.Implementation of visual feedback and force-feedback mouse to theteleoperation system improves the human operator’s ability to perform remoteoperation.Keywords: Teleoperation, Remote Control, Event-Based Control, Internet TimeDelay, Human-Machine Interaction.v
ÖZINTERNET ÜZERİNDEN UZAK BİR ROBOTİK TELEOPERASYONUNPERFORMANSININ GELİŞTİRİLMESİARSLAN, Mehmet SelçukYüksek Lisans, Makine Mühendisliği BölümüTez Yöneticisi: Y. Doç. Dr. E. İlhan KonuksevenAğustos 2005, 180 sayfaBu tez çalışmasında, 6 serbestlik dereceli endüstriyel bir robotun uzaktankumanda edilmesine imkan veren Internet tabanlı bir teleoperasyon sistemininiyileştirilmesi hedeflenmiştir. Teleoperasyonun güvenliğini ve verimliliğiniartırmak için kararlılık ve senkronizasyon (el-göz koordinasyonu) dikkatealınmıştır.Operatör ve uzaktaki robot arasındaki iletişim ortamı olarak Internet seçilmiştir.Değişken zaman gecikmeleri ve Internet’in belirlenemeyen karakteristikleriteleoperasyon sisteminde kararsızlığa yol açabilmektedir. Internet’in iletimüzerindeki bozucu etkileri göz önüne alınarak, teleoperasyon sistemininkararlılığını iyileştirmek için olay tabanlı kontrol yaklaşımı kullanılmıştır. Bunaek olarak, kontrol sisteminden alınan geri beslemeye göre, komut üretimiesnasında operatör ve robot arasındaki senkronizasyonu iyileştirmek için birvi
görsel geri besleme sistemi geliştirilmiş ve bir kuvvet geri beslemeli faretasarlanmıştır. Operatör ile uzak ortam arasında bir ara birim oluşturmak içinbir istemci-sunucu yazılım uygulaması geliştirilmiştir.Olay tabanlı kontrol yaklaşımının kullanılmasının operasyonu kararlı halegetirdiği ve senkronizasyonu iyileştirdiği gözlemlenmiştir. Görsel geribeslemenin ve kuvvet geri beslemeli farenin teleoperasyon �rütebilmeyeteneğiniiyileştirmiştir.Anahtar Kelimeler: Teleoperasyon, Uzaktan Kontrol, Olay Tabanlı Kontrol,Internet Zaman Gecikmesi, İnsan-Makine Etkileşimi.vii
To My Familyviii
ACKNOWLEDGEMENTSI would like to thank my supervisor Asst. Prof. Dr. E. İlhan Konukseven forproviding me this research opportunity, guiding me throughout the study, andhis patience. I am also indebted him for his precious evaluations and feedbacksin writing this thesis.I would like to express my gratitude to my father for causing me to pursue anM. Sc. in Mechanical Engineering, his methodological approaches and supportin every stage of this study.Special thanks to Melikşah Kandilci for his permanent support, brotherhood,and ingenuity which are always on my side as in this thesis study. I would liketo thank him for his boundless helps in electronics field.I owe thanks to Dr. Coşkun Kuş for his helps in statistics. Also I would like tothank to Emre Sezginer from METU CC Network Group for his contributions,my friend Sedat Doğru for networking helps, and Ed Gonzalez and AdamSmith for coding helps. METU BILTIR - CAD/CAM and Robotics Center, thestaffs of the center and especially technician Halit Şahin are gratefullyacknowledged.I owe many thanks to my dear friends M. Mesut Tahtacı, Hakan Şahin and M.Rifat Sönmez for their support throughout this study and presence. Finallymany thanks to my family, especially to my sister Ayşe Rûyem Arslan, for theirinvaluable and endless support, and patience.ix
TABLE OF CONTENTSPLAGIARISM . iiiABSTRACT .ivÖZ .viACKNOWLEDGEMENTS.ixTABLE OF CONTENTS .xCHAPTERS.11. INTRODUCTION.11.1 Background and Motivations .11.2 Survey of Literature .61.3 Scope of the Thesis .101.4 Objective of the Study.131.5 Outline of the Thesis .142. TELEOPERATION HARDWARE ARCHITECTURE.162.1 Overview .162.2 Main Architecture of the Teleoperation System .162.3 Test Bed .192.3.1 Robot .202.3.1.1 Mechanical Unit.202.3.1.2 Controller Unit and Communication Protocols .222.3.1.3 Maneuvering the Robot.242.3.2 Video Server .282.3.3 Video Camera .292.3.4 Gripper and Pen Holder .312.4 Force-Feedback Mouse .322.5 Server Computer .33x
3. COMMUNICATION LINK .343.1 Overview .343.2 Internet .343.3 Internet Time Delay .353.3.1 Nodal Delay .363.3.2 Delay Jitter and Packet Loss .383.3.3 Round-Trip Time Measurement.393.4 Networking.433.4.1 Internet Protocol (IP).433.4.2 Transmission Control Protocol (TCP) .443.4.3 Ports, Sockets, and Client/Server Model .453.5. Conclusion.464. FEEDBACK SYSTEM .484.1 Overview .484.2 Visual Feedback .484.2.1 Video Feedback System.494.2.1.1 Video Camera .504.2.1.2 Video Server .534.2.1.3 Developed Software.564.2.2 Virtual Reality Based Simulation Feedback .574.3 Force Feedback .604.3.1 Force-Feedback Mouse .614.3.1.1 Mouse Body and Mouse Pad .644.3.1.2 Electromagnet .644.3.2 Driver Circuit of the Electromagnet.684.3.2.1 Microcontroller .714.3.2.2 Coil Driver Circuit .734.3.3 Software Implementation .744.4 Conclusion.755. INTERNET CONTROL ARCHITECTURE .765.1 Introduction .765.2 Developed Control Methods .81xi
5.2.1 Simple Event-Based Method .815.2.2 Sliding Event-Based Method .845.3 Event-Synchronization .875.4 Determination of the Group Size .895.5 Path Generator.935.6 Path Smoothing .965.7 Experimental Implementation and Results .1005.7.1 Case 1 .1025.7.2 Case 2 .1045.7.3 Case 3 .1075.7.4 Case 4 .1095.7.5 Conclusion .1126. SOFTWARE DESIGN AND IMPLEMENTATION .1146.1 Programming Environment .1146.2 Software Structure and Interfaces .1166.2.1 Command Generation .1206.2.2 Virtual Paper .1236.2.3 Delay Measurement .1236.2.4 Communication .1256.2.5 Force-Feedback .1266.2.6 Video Display and Camera Control .1276.2.7 Number Recognition .1296.2.8 Simulation of the Robot .1326.2.9 Direct Control of the Robot .1346.3 Working Mechanism of the Program .1347. SUMMARY AND CONCLUSION.1387.1 Summary .1387.2 Conclusions .1437.3 Recommendations for Future Work.145REFERENCES.146APPENDICES.153APPENDIX A .153xii
APPENDIX B .156APPENDIX C .163APPENDIX D .168APPENDIX E.173APPENDIX F.177xiii
CHAPTER 1INTRODUCTION1.1 Background and MotivationsThe importance of performing unmanned, large scale and challengingoperations has been increasing. The human operator’s expertise and intelligenceare extended to distant applications through remote operations. Necessity of thepresence of the human being in the application environment, restrictions,efficiency, and operation cost are the main determining factors in developingremote handling systems. The remote manipulation is not only adopted asindispensable for some applications like space teleoperations but also adoptedas a performance increasing operation such as telesurgery. New branches suchas teleoperation and telerobotics had been brought in robotics due to theadvances in remote operation. Giving a brief discussion on the differencebetween teleoperation and telerobotics might be useful to describe the scope ofthis study.Teleoperator is a machine that enables the human operator to extend themoving and sensing capabilities and manipulate objects physically at a distance.Teleoperators were developed in the late 1940s to operate at a distance.Advances in atomic physics created a need for the implementation ofexperiments remotely at the laboratory scale. Dealing with the hazardousenvironments which contain nuclear radiation, high temperatures, chemicals,etc. brought about the development of remote handling systems. After thedevelopment of the first master-slave mechanical manipulator, Figure 1.1,teleoperation activities in nuclear domain were started to apply to new1
application areas. Hereafter, teleoperation applications were spread out tomedical, space, and underwater fields. Table 1.1 includes some branches ofremote operation that took place in many areas since 1940s.Figure 1.1 One of the First Small Scale Mechanical Link Teleoperator2
Table 1.1 Areas of Application in Telerobotics and TeleoperationUnderseaNuclearChemical & BiologicalMetal processing,handlingand fabricationElectronicsPublic servicesEntertainmentEducation & TrainingMedicalAerospaceResearch, rescue, ship salvage, repair andmaintenance of undersea lab.Hot-cell operations; inspection, rescue, cleanupand decontaminations in emergency situationsHandling toxic materials, propellants, explosivesetc.In forging plants and for handling large, hotmetal piecesIn super-clean rooms and in toxic atmospheresFire-fighting, rescue and cleanup in hazardousenvironmentsTelegarden, Teleactor, Puma Paint Project [10],controlling remote telescopes and mobilevehicles, etc.Manipulator trainings, experiments in remotelaboratories, museum guide autonomous robotsetc.Operations, first-aid, surgery lectures, homehealthcare, rehabilitationSpacecraft assembly and maintenance and forthe exploration of satellites and planetsA telerobot is a system that beneficially combines human interaction andautomation in a single robot system. In the early 1970s, as digital electronicsbecame more cost effective, interest began to emerge in the integration ofautomation with teleoperations as a scheme for effectively increasing the workefficiency of remote operations. This integration of automation withteleoperation is the foundation of telerobotics. Unlike manufacturingautomation, remote operations in hazardous and unstructured work taskenvironments necessitate human-in-the-loop control, or teleoperations, as abackstop to ensure safe operations. A telerobotic system provides a continuumof remote capabilities from fully manual operations through fully autonomoustask execution where the mixture of operations is chosen to improve overallsystem performance [1]. A recent example of an industrial telerobotic system isshown in Figure 1.2.3
The prefix “Tele” is derived from the Ancient Greek and means distant,distance. While the distance is a few meters in laboratories, some applicationscause the extension of the distance as far as millions of kilometers as inaerospace applications. The increase in distance between the operator andremote device leads to a challenging problem, time delay. Time delay is theelapsed time until a signal arrives at the destination and is mainly related withthe distance between the operator and the remote device. Most applicationshave private communication links, e.g. in underwater applications, sound wavesor cable lines are used to transmit the data. Communication medium is alsoanother important factor affecting the delay. For instance, in underwaterapplications, sound transmission is limited around 1700 m/s in water; inaerospace applications, signal transmission is limited to the speed of the light(radio transmission). The Internet is among the most popular communicationmedia and its packet routing mechanism plays an important role in time delaysince the packets are handled and routed at each node (router) on the path.Figure 1.2 A telerobotic system for repairing high-voltage power lines.4
The Internet is a network that interconnects millions of computers throughoutthe world and provides the exchange of information between computers at highrates. By January 2005, there are over 300 millions hosts on the Internet andthis number grows exponentially according to Internet Systems Consortium(ISC) Internet Domain Survey [2]. Growing availability of the Internet hasbrought in a cheap and open public communication medium for remoteoperations. However, as Khamis et al. [3] described, the Internet brings forthmany challenges in real-world applications. “These problems include restrictedbandwidth, random time delay and data los
improving performance of a remote robotic teleoperation over the internet a thesis submitted to the graduate school of natural and applied sciences
VIZIO Universal Remote Control. With this Universal Remote, juggling multiple remote controls is a thing of the past! Your new remote controls up to 3 devices, including the most popular brands of TV, Blu-Ray, DVD, DVR, Cable, and more. Note: Some functions from your original remote may not be controlled by this remote. Use the original remote, if
Then, use the "remote desktop" software to “connect-in” to your shack PC. You “see” the shack desktop, and control the station, just like being there. 9 #3. Remote Desktop software There are many good free “Remote desktop“ programs (also called VNC): TeamViewer, Chrome Remote Desktop, Windows Remote Desktop, Splashtop,
Your new AT8560Ž AllTouch fi Universal Remote Control (remote) is a true universal remote, functioning as Þ ve remotes in one. As one example, you can use this remote to operate your TV, VCR, DVD player, set-top, and receiver. Important Information About Your Remote Your remote is initially programmed to only operate your set-top. The Volume .
What is Interactive Remote Access . Interactive Remote Access - Effective 4/1/16- Interactive Remote Access. is defined as: "User-initiated access by a person . employing a remote access client or other remote access technology . using a routable protocol. Remote access originates from a Cyber Asset. that is . not. an . Intermediate System .
C2 Appendix C Remote Desktop and Remote Assistance Figure C.2 With Remote Desktop, you can use your own computer from any computer running Windows or Mac OS X. Remote Desktop works in much the same way as other remote control products such as VNC, PCAnywhere, and CarbonCopy. Personally, it seems to me to be somewhat faster than these other
akuntansi musyarakah (sak no 106) Ayat tentang Musyarakah (Q.S. 39; 29) لًََّز ãَ åِاَ óِ îَخظَْ ó Þَْ ë Þٍجُزَِ ß ا äًَّ àَط لًَّجُرَ íَ åَ îظُِ Ûاَش
Collectively make tawbah to Allāh S so that you may acquire falāḥ [of this world and the Hereafter]. (24:31) The one who repents also becomes the beloved of Allāh S, Âَْ Èِﺑاﻮَّﺘﻟاَّﺐُّ ßُِ çﻪَّٰﻠﻟانَّاِ Verily, Allāh S loves those who are most repenting. (2:22
OEM Remote Starter Detection How to Know if the vehicle is Equipped with an OEM Remote Starter 1. An “ENGINE STARTER” sticker should be on the remote. ENGINE STARTER 2. Remote start the OEM remote starter: Press the remote control’s lock button twice within 2 seconds, then press and hold the lock button for 3 seconds. x2 & Press & Hold .
