Telemanipulation and supervisory control of a backhoe excavator
Identifieur interne :
000809 ( PascalFrancis/Corpus );
précédent :
000808;
suivant :
000810
Telemanipulation and supervisory control of a backhoe excavator
Auteurs : O. Luengo ;
A. BarrientosSource :
-
SPIE proceedings series [ 1017-2653 ] ; 1998.
RBID : Pascal:99-0327388
Descripteurs français
English descriptors
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.
Notice en format standard (ISO 2709)
Pour connaître la documentation sur le format Inist Standard.
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| A01 | 01 | 1 | | @0 1017-2653 |
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| A05 | | | | @2 3524 |
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| A08 | 01 | 1 | ENG | @1 Telemanipulation and supervisory control of a backhoe excavator |
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| A09 | 01 | 1 | ENG | @1 Telemanipulator and telepresence technologies V : Boston MA, 4-5 November 1998 |
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| A11 | 01 | 1 | | @1 LUENGO (O.) |
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| A11 | 02 | 1 | | @1 BARRIENTOS (A.) |
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| A12 | 01 | 1 | | @1 STEIN (Matthew R.) @9 ed. |
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| A14 | 01 | | | @1 DISAM (Universidad Politecnica de Madrid), C/Jose Gutierrez Abascal, 2 @2 Madrid 28006 @3 ESP @Z 1 aut. @Z 2 aut. |
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| A18 | 01 | 1 | | @1 International Society for Optical Engineering @2 Bellingham WA @3 USA @9 patr. |
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| A20 | | | | @1 24-31 |
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| A21 | | | | @1 1998 |
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| A23 | 01 | | | @0 ENG |
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| A26 | 01 | | | @0 0-8194-2985-6 |
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| A43 | 01 | | | @1 INIST @2 21760 @5 354000084606110030 |
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| A44 | | | | @0 0000 @1 © 1999 INIST-CNRS. All rights reserved. |
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| A45 | | | | @0 13 ref. |
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| A47 | 01 | 1 | | @0 99-0327388 |
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| A60 | | | | @1 P @2 C |
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| A61 | | | | @0 A |
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| A64 | 01 | 1 | | @0 SPIE proceedings series |
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| A66 | 01 | | | @0 USA |
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| C01 | 01 | | ENG | @0 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. |
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| C03 | 01 | X | ENG | @0 Telematics @5 01 |
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| C03 | 01 | X | SPA | @0 Telemática @5 01 |
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| C03 | 02 | X | FRE | @0 Manipulation @5 02 |
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| C03 | 02 | X | ENG | @0 Manipulation @5 02 |
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| C03 | 02 | X | SPA | @0 Manipulación @5 02 |
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| C03 | 03 | X | FRE | @0 Tâche surveillance @5 03 |
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| C03 | 03 | X | ENG | @0 Supervisory activity @5 03 |
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| C03 | 03 | X | SPA | @0 Tarea vigilancia @5 03 |
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| C03 | 04 | X | FRE | @0 Chariot sans conducteur @5 04 |
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| C03 | 04 | X | ENG | @0 Automated guided vehicle @5 04 |
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| C03 | 04 | X | SPA | @0 Vehículo automatizado @5 04 |
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| C03 | 05 | X | FRE | @0 Fouille @5 05 |
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| C03 | 05 | X | ENG | @0 Excavation @5 05 |
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| C03 | 05 | X | SPA | @0 Excavación @5 05 |
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| C03 | 06 | X | FRE | @0 Robotique @5 06 |
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| C03 | 06 | X | ENG | @0 Robotics @5 06 |
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| C03 | 06 | X | SPA | @0 Robótica @5 06 |
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| C03 | 07 | X | FRE | @0 Téléopération @5 07 |
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| C03 | 07 | X | ENG | @0 Remote operation @5 07 |
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| C03 | 07 | X | SPA | @0 Teleacción @5 07 |
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| C03 | 08 | X | FRE | @0 Planification optimale @5 08 |
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| C03 | 08 | X | ENG | @0 Optimal planning @5 08 |
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| C03 | 08 | X | SPA | @0 Planificación óptima @5 08 |
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| C03 | 09 | X | FRE | @0 Etude expérimentale @5 09 |
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| C03 | 09 | X | ENG | @0 Experimental study @5 09 |
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| C03 | 09 | X | SPA | @0 Estudio experimental @5 09 |
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| N21 | | | | @1 207 |
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|
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| pR |
| A30 | 01 | 1 | ENG | @1 Telemanipulator and telepresence technologies. Conference @2 5 @3 Boston MA USA @4 1998-11-04 |
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Format Inist (serveur)
| NO : | PASCAL 99-0327388 INIST |
|---|
| ET : | Telemanipulation and supervisory control of a backhoe excavator |
|---|
| AU : | LUENGO (O.); BARRIENTOS (A.); STEIN (Matthew R.) |
|---|
| AF : | DISAM (Universidad Politecnica de Madrid), C/Jose Gutierrez Abascal, 2 /Madrid 28006/Espagne (1 aut., 2 aut.) |
|---|
| DT : | Publication en série; Congrès; Niveau analytique |
|---|
| SO : | SPIE proceedings series; ISSN 1017-2653; Etats-Unis; Da. 1998; Vol. 3524; Pp. 24-31; Bibl. 13 ref. |
|---|
| LA : | Anglais |
|---|
| EA : | 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. |
|---|
| CC : | 001D04B02H4; 001D02D11; 001D13D |
|---|
| FD : | Télématique; Manipulation; Tâche surveillance; Chariot sans conducteur; Fouille; Robotique; Téléopération; Planification optimale; Etude expérimentale |
|---|
| ED : | Telematics; Manipulation; Supervisory activity; Automated guided vehicle; Excavation; Robotics; Remote operation; Optimal planning; Experimental study |
|---|
| SD : | Telemática; Manipulación; Tarea vigilancia; Vehículo automatizado; Excavación; Robótica; Teleacción; Planificación óptima; Estudio experimental |
|---|
| LO : | INIST-21760.354000084606110030 |
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| ID : | 99-0327388 |
|---|
Links to Exploration step
Pascal:99-0327388
Le document en format XML
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<ET>Telemanipulation and supervisory control of a backhoe excavator</ET>
<AU>LUENGO (O.); BARRIENTOS (A.); STEIN (Matthew R.)</AU>
<AF>DISAM (Universidad Politecnica de Madrid), C/Jose Gutierrez Abascal, 2 /Madrid 28006/Espagne (1 aut., 2 aut.)</AF>
<DT>Publication en série; Congrès; Niveau analytique</DT>
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<LA>Anglais</LA>
<EA>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.</EA>
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