Telemanipulation and supervisory control of a backhoe excavator
Identifieur interne : 004F45 ( Main/Merge ); précédent : 004F44; suivant : 004F46Telemanipulation and supervisory control of a backhoe excavator
Auteurs : O. Luengo [Espagne] ; A. Barrientos [Espagne]Source :
- SPIE proceedings series [ 1017-2653 ] ; 1998.
Descripteurs français
- Pascal (Inist)
- Wicri :
- topic : Télématique, Robotique.
English descriptors
- KwdEn :
Abstract
The excavation tasks present one of the more challenging area in robotic research. The environment is highly unstructured, the forces that appear are very large, it is very important the detection of underground obstacles to avoid any damage, and the modeling of the hydraulic actuators is highly nonlinear. In recent years, the remote control of the excavation has found applications in very dangerous environments for humans beings, like nuclear power plants, nuclear and chemical waste facilities and terrestrial and extra-terrestrial mining. Some kind of intelligence is required due to the presence of unexpected situations. The first approach to deal with the problem is to put a human being in the loop, that is: teleoperation. The next step towards the total automation of the excavation is the supervisory control of the task. In this scheme, the operator acts like a supervisor, providing high level commands, and checking the development and accomplishment of the task. The solutions that DISAM has developed are presented in this paper, as well as future work that will be very useful in the search for the total automation of excavation tasks.
Links toward previous steps (curation, corpus...)
- to stream PascalFrancis, to step Corpus: 000809
- to stream PascalFrancis, to step Curation: 001914
- to stream PascalFrancis, to step Checkpoint: 000841
Links to Exploration step
Pascal:99-0327388Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">Telemanipulation and supervisory control of a backhoe excavator</title><author><name sortKey="Luengo, O" sort="Luengo, O" uniqKey="Luengo O" first="O." last="Luengo">O. Luengo</name><affiliation wicri:level="2"><inist:fA14 i1="01"><s1>DISAM (Universidad Politecnica de Madrid), C/Jose Gutierrez Abascal, 2 </s1><s2>Madrid 28006</s2><s3>ESP</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>Espagne</country><placeName><region nuts="2" type="communauté">Communauté de Madrid</region></placeName></affiliation></author><author><name sortKey="Barrientos, A" sort="Barrientos, A" uniqKey="Barrientos A" first="A." last="Barrientos">A. Barrientos</name><affiliation wicri:level="2"><inist:fA14 i1="01"><s1>DISAM (Universidad Politecnica de Madrid), C/Jose Gutierrez Abascal, 2 </s1><s2>Madrid 28006</s2><s3>ESP</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>Espagne</country><placeName><region nuts="2" type="communauté">Communauté de Madrid</region></placeName></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">99-0327388</idno><date when="1998">1998</date><idno type="stanalyst">PASCAL 99-0327388 INIST</idno><idno type="RBID">Pascal:99-0327388</idno><idno type="wicri:Area/PascalFrancis/Corpus">000809</idno><idno type="wicri:Area/PascalFrancis/Curation">001914</idno><idno type="wicri:Area/PascalFrancis/Checkpoint">000841</idno><idno type="wicri:explorRef" wicri:stream="PascalFrancis" wicri:step="Checkpoint">000841</idno><idno type="wicri:doubleKey">1017-2653:1998:Luengo O:telemanipulation:and:supervisory</idno><idno type="wicri:Area/Main/Merge">004F45</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Telemanipulation and supervisory control of a backhoe excavator</title><author><name sortKey="Luengo, O" sort="Luengo, O" uniqKey="Luengo O" first="O." last="Luengo">O. Luengo</name><affiliation wicri:level="2"><inist:fA14 i1="01"><s1>DISAM (Universidad Politecnica de Madrid), C/Jose Gutierrez Abascal, 2 </s1><s2>Madrid 28006</s2><s3>ESP</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>Espagne</country><placeName><region nuts="2" type="communauté">Communauté de Madrid</region></placeName></affiliation></author><author><name sortKey="Barrientos, A" sort="Barrientos, A" uniqKey="Barrientos A" first="A." last="Barrientos">A. Barrientos</name><affiliation wicri:level="2"><inist:fA14 i1="01"><s1>DISAM (Universidad Politecnica de Madrid), C/Jose Gutierrez Abascal, 2 </s1><s2>Madrid 28006</s2><s3>ESP</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>Espagne</country><placeName><region nuts="2" type="communauté">Communauté de Madrid</region></placeName></affiliation></author></analytic><series><title level="j" type="main">SPIE proceedings series</title><idno type="ISSN">1017-2653</idno><imprint><date when="1998">1998</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">SPIE proceedings series</title><idno type="ISSN">1017-2653</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Automated guided vehicle</term><term>Excavation</term><term>Experimental study</term><term>Manipulation</term><term>Optimal planning</term><term>Remote operation</term><term>Robotics</term><term>Supervisory activity</term><term>Telematics</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Télématique</term><term>Manipulation</term><term>Tâche surveillance</term><term>Chariot sans conducteur</term><term>Fouille</term><term>Robotique</term><term>Téléopération</term><term>Planification optimale</term><term>Etude expérimentale</term></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Télématique</term><term>Robotique</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">The excavation tasks present one of the more challenging area in robotic research. The environment is highly unstructured, the forces that appear are very large, it is very important the detection of underground obstacles to avoid any damage, and the modeling of the hydraulic actuators is highly nonlinear. In recent years, the remote control of the excavation has found applications in very dangerous environments for humans beings, like nuclear power plants, nuclear and chemical waste facilities and terrestrial and extra-terrestrial mining. Some kind of intelligence is required due to the presence of unexpected situations. The first approach to deal with the problem is to put a human being in the loop, that is: teleoperation. The next step towards the total automation of the excavation is the supervisory control of the task. In this scheme, the operator acts like a supervisor, providing high level commands, and checking the development and accomplishment of the task. The solutions that DISAM has developed are presented in this paper, as well as future work that will be very useful in the search for the total automation of excavation tasks.</div></front></TEI><affiliations><list><country><li>Espagne</li></country><region><li>Communauté de Madrid</li></region></list><tree><country name="Espagne"><region name="Communauté de Madrid"><name sortKey="Luengo, O" sort="Luengo, O" uniqKey="Luengo O" first="O." last="Luengo">O. Luengo</name></region><name sortKey="Barrientos, A" sort="Barrientos, A" uniqKey="Barrientos A" first="A." last="Barrientos">A. Barrientos</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/TelematiV1/Data/Main/Merge
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 004F45 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Merge/biblio.hfd -nk 004F45 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= TelematiV1
|flux= Main
|étape= Merge
|type= RBID
|clé= Pascal:99-0327388
|texte= Telemanipulation and supervisory control of a backhoe excavator
}}
| This area was generated with Dilib version V0.6.31. |  |