Dynamics Modeling of Human–Machine Control Interface for Underwater Teleoperation

Abstract

SUMMARY This paper presents an experimental study on new paradigms of haptic-based teleoperated navigation of underwater vehicles. Specifically, the work is focused on investigating the possibility of enhancing the user interaction by introducing haptic cues at the level of the user wrist providing a force feedback that reflects dynamic forces on the remotely operated underwater vehicle. Different typologies of haptic controllers are conceived and integrated with a real-time simulated model of an underwater robotic vehicle. An experimental test is designed to evaluate the usability of the system and to provide information on the global performance during the execution of simple tasks. Experiments are conducted with 7 candidates testing 12 different controllers. Among these, the most effective strategies have been identified and selected on the basis of minimization of errors on the vehicle trajectory and of the quality of the user’s interaction in terms of perceived comfort during operation. Overall, the results obtained with this study underline that haptic navigation control can have a positive influence on the performance of remotely controlled underwater vehicles.

Analog Twin Framework for Human and AI Supervisory Control and Teleoperation of Robots

“…Remote operation allows a safe way to control a robotic system, avoiding difficult or harmful environments that may be distant or out of reach for humans. Mobile robots require robust control and autonomy algorithms as well as cooperation algorithms to be useful in applications like exploration [1] and search and rescue missions [2], [3], where human access is difficult, but supervised human or artificial intelligence control is necessary [4]. Further, remote control and autonomy add the possibility of enabling an operator/AI algorithm to remote interface with the on-site environment robot by effectively using multi-modal sensor data inside the loop such as visual [5], tactile-visual [6], visual-vestibular [7], haptic cues [8], [9], artificial force [10], vibrotactile [11], visual-network [12], etc.…”

An Ultrahighly Pressure Sensitive Electronic Fish Skin for Underwater Wave Sensing

“…For instance, prolonged immersion in liquid environments may potentially threaten long-term stability, such as resulting in electrochemical corrosion or even short circuits. 6 Therefore, additional waterproof packaging is critical to insulate functional layers from ambient damage. 7 Unstable packaging has the potential risk of leakage failure; however, the excessive protective coating will inevitably weaken the capability of sensing tiny pressure stimuli and affect the size and flexibility of the device.…”

“…Wave perception is of great significance for monitoring underwater health and exploring ocean current. , The emerging soft electronic devices featuring mechanical flexibility and conformality hold the promise to be deployed on various carriers for aquatic sensing demand, such as physiological monitoring for divers and biomechanical analysis of aquatic lives. − Although the flexible device techniques are on the rise, a number of technical hurdles still exist that limit meeting these critical underwater requirements. For instance, prolonged immersion in liquid environments may potentially threaten long-term stability, such as resulting in electrochemical corrosion or even short circuits . Therefore, additional waterproof packaging is critical to insulate functional layers from ambient damage .…”

Orientation Control Design of a Telepresence Robot: An Experimental Verification in Healthcare System

“…The second crucial part is the decision-making device, which controls the orientation robot and self-localizes it to avoid obstacles during the journey and provide a safe track [46,47]. Another term, "maneuver," is also called, but better and more precise terms are "behavior" or localization, which are more frequently used in the article [48][49][50][51][52]. The control of a robot in an austere and cognitive environment is presented in [52,53].…”