There is a growing need for humans to perform complex remote operations and to extend the intelligence and experience of experts to distant applications. A blending of human intelligence, modern information technology, remote control, and intelligent autonomous systems is required, and the authors have coined the term teleautonomous technology, or teleautomation, for methods for producing intelligent action at a distance. Teleautomation goes beyond autonomous control in that it blends in human intelligenge and action as appropriate. I t goes beyond teleoperation in that it incorporates as much autonomy as i s possible or reasonable. A new approach for solving one of the fundamental problems facing teleautonomous systems is discussed in detail: the need to overcome time delays due to telemetry and signal propagation. New concepts, called time and position clutches, are introduced; these allow the time and position frames, respectively, between the local user control and the remote device being controlled to be desynchronized. The design and implementation of these mechanisms are described in detail. I t is demonstrated that these mechanisms lead to substantial telemanipulation performance improvements, including the novel result of improvements even in the absence of time delays. The novel controls also yield a simple protocol for handoffs of the control of manipulation tasks between local operators and remote systems.

We present a system for generation and recognition of oscillatory gestures. Inspired by gestures used in two representative human-to-human control areas, we consider a set of oscillatory motions and refine from them a 24 gesture lexicon. Each gesture is modeled as a dynamical system with added geometric constraints to allow for real time gesture recognition using a small amount of processing time and memory. The gestures are used to control a pan-tilt camera neck. We propose extensions for use in areas such as mobile robot control and telerobotics. Face and Gesture Recognition, 1996, pages 60-65. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. NOTE: At the time of publication, author Daniel Koditschek was affiliated with the University of Michigan. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania. We present a system for generation and recognition of oscillatory gestures. Comments Copyright 1996 IEEE. Reprinted from Proceedings of the Second International Conference on AutomaticInspired by gestures used in two representative human-tohuman control areas, we consider a set of oscillatory motions and refine from them a 24 gesture lexicon. Each gesture is modeled as a dynamical system with added geometric constraints to allow for real time gesture recognition using a small amount of processing time and memory. The gestures are used to control a pan-tilt camera neck. We propose extensions for use in areas such as mobile robot control and telerobotics.

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