Experimental Evaluation of Computer-Aided Tele-operation (CATO) and Computer-Aided Robotic Manipulation (CARMAN) Technology

reportActive / Technical Report | Accession Number: ADA526373 | Open PDF

Abstract:

The objective of this research was to experimentally evaluate the effect of Computer-Aided Robotic Manipulation CARMAN and Computer Aided Tele-operation CATO technologies on manipulator activity and tele-operation, respectively. These technologies were assessed to gauge their effectiveness relative to standard operation of a TALON IIIB. The CARMAN experiment consisted of a light board task with targets. CARMAN has two technologies that were evaluated in this experiment for manipulator control Point and Click and Fly-To. These technologies were compared to the baseline configuration ALTON. The Point and Click mode allows the operator to select a point on the video from the Operator Control Unit OCU, which will direct the manipulator arm to move to that general area. The Fly-To mode allows the operator precise control over the manipulator arm, via a joystick on the OCU, to direct the end effector to a specific point. Results showed that performance with the Fly-To configuration was superior to the other two configurations. The CATO Experiment consisted of a path-following course and an obstacle negotiation course. CATO has three technologies that were evaluated in this experiment for tele-operation, Elevated Camera, Projected Path, and Waypoint. These technologies were compared to the baseline configuration TALON. Elevated Camera was best suited for completing the obstacle course both in terms of speed and minimizing collisions. Projected Path was found to be best for following a designated path and was also well suited for avoiding collisions with obstacles. Both Elevated Camera and Projected Path were found to significantly reduce the reported frustration of operating the SUGV for these tasks.

Author(s):
Pomranky, Regina A. ; Cosenzo, Keryl ; Bodenhamer, Andrew ; Pettijohn, Brad
Author Organization(s):
ARMY RESEARCH LAB ABERDEEN PROVING GROUND MD HUMAN RESEARCH AND ENGINEERING DIRECTORATE
Descriptive Note:
Final rept. Jul-Nov 2008
Supplementary Note:
The original document contains color images. DOI: 10.21236/ADA526373
Pagination:
0054

Security Markings

DOCUMENT & CONTEXTUAL SUMMARY

Distribution:
Approved For Public Release
Distribution Statement:
Approved For Public Release; Distribution Is Unlimited.

RECORD

Collection: TR
Identifying Numbers
Report Number(s):
ARL-TR-5257
Monitor Series:
ARL/HRED
 Subject Terms
Joint Capability Areas:
JCA_5_Command and Control; JCA_3_Force Application; JCA_3.1.1_Maneuver to Engage; JCA_3.1_Maneuver; JCA_5.3_Planning; JCA_5.5_Direct; JCA_5.5.1_Communicate Intent and Guidance; JCA_5.5.2_Task; JCA_1.2.7_Experimentation; JCA_2_Battlespace Awareness; JCA_2.1_Planning and Direction; JCA_2.1.4_Evaluation; JCA_5.3.3_Develop Strategy; JCA_1_Force Support; JCA_5.3.4_Develop Courses of Action; JCA_5.3.5_Analyze Courses of Action; JCA_1.2_Force Preparation; JCA_5.6.3_Assess Achievement of Objectives; JCA_5.6_Monitor; JCA_1.2.1_Training; JCA_6_Net Centric
Modernization Areas:
Autonomy
Communities of Interest:
Autonomy
Descriptor(s):
*ROBOTS, *CONTROL SYSTEMS, *COMPUTER APPLICATIONS, MAN COMPUTER INTERFACE, MANIPULATORS, METRICS, PATHS, ROBOTICS, CAMERAS
Field(s)/Group(s):
Cybernetics, Human Factors Engineering and Man Machine Systems, Bionics
Keyword(s):
*TALON ROBOTS, AIDED TELE OPERATION, ALTON, CARMAN(COMPUTER AIDED ROBOTIC MANIPULATION), CATO(COMPUTER AIDED TELE OPERATION)
Report Date:
2010 Aug 01
Creation Date:
2010 Aug 25