3D-SENSOR-AUGMENTED REMOTE MANIPULATION

CURRENT TELEOPERATED SYSTEMS ARE LIMITED BY MECHANICAL-MANIPULATOR TECHNOLOGY AND THE OPERATOR'S ABILITY TO PERCEIVE THE WORK ENVIRONMENT REMOTELY. DETAILEDOBSERVATIONS OF INTERACTIONS BETWEEN A MANIPULATOR AND THE ENVIRONMENT BEYOND VIDEO MONITORING AND DIRECT VIEWING WILL INCREASE REMOTE SYSTEM CAPABILITIES AND EFFICIENCIES. THE PROPOSED PROJECT IS A TECHNICAL STUDY AND DEVELOPMENT OF A 3D SENSING SYSTEM WHICH AUGMENTS THE REMOTE-MANIPULATION SYSTEM CURRENTLY PLANNED FOR A DOE FUEL-RECYCLING DEMONSTRATION FACILITY. AFTER THE OPERATOR HAS COARSELY POSITIONED THE MANIPULATOR NEAR A TARGET OBJECT, THE SYSTEM AUTOMATICALLY ALIGNS THE MANIPULATOR TO A LOCAL COORDINATE SYSTEM REFERENCED TO THE OBJECT. USING THE SENSOR-GUIDED ALIGNMENT FEATURE WITH THE MANIPULATOR'S PLAYBACK CAPABILITIES RELIEVES THE OPERATOR FROM TEDIOUS REPETITIVE TASKS. IN ADDITION, THE OPERATOR IS PRESENTED WITH A THREE-DIMENSIONAL DISPLAY OF THE ENVIRONMENT GENERATED FROM THE SENSOR DATA. THE DATA MAY BE VIEWED FROM VARIOUS DIRECTIONS TO ENHANCE THE OPERATOR'S PERCEPTION OF THE TASK STATE WITHOUT MOVING THE MANIPULATOR OR THE SENSOR.