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Theme Title: Chinese sensors development and applications
1 Introduction
This paper investigates the effect on completing tele-operated tasks depending on the way in which a human operator interacts with a mobile-robot and whether a sensor system is connected to assist them. That interaction is investigated using two tele-operated mobile-robot systems, three different ways of interacting with mobile-robots and several different environments. One mobile-robot system used an umbilical cable and one used a radio transmitter and receiver. An ultrasonic sensor system could be installed to assist tele-operators.
Tele-operators were observed completing a series of tasks using a joystick to control a mobile-robot. Tele-operators either watched the mobile-robot while they were operating it, or they sat at a computer screen and viewed the mobile-robot on a screen display. Cameras were either mounted on the robot or so that they could view both the environment and the robot. In each case, the tele-operators completed tests both with and without the sensor system.
A main conclusion is that in simple environments, a tele-operator may perform better without a sensor system to assist them but in more complicated environments then a tele-operator may perform better with a sensor system to assist. A secondary conclusion is that tele-operators may tend to perform better with a radio link than with an umbilical connection because umbilical cables can affect the steering of the mobile-robot.
2 Background
Mobile-robots and unmanned vehicles are being increasingly used (and considered for future use) in nuclear plants ([1] Erwin-Wright et al. , 2003; [2] Luk et al. , 2006), for search and rescue ([3] Sanders and Stott, 2009; [4], [6] Sanders, 2009c, 2008c; [5] Murphy, 2004; [7] Molfino et al. , 2007; [8] Wang and Hong, 2007), surveillance ([9] Urwin-Wright et al. , 2002), security ([10] Carnegie et al. , 2004) and inspection ([11] Sanders, 2009d; [12] Kalra and Gu, 2007).
Although wheeled vehicles find it difficult to move freely over some terrain, wheeled mechanisms are still the main mechanisms for moving over ground ([13] Nakamura and Satoh, 2008) and they are considered in this paper.
In some environments, materials handling must be carried out remotely, and tele-operated handling systems can keep operators at a safe distance from hazardous material and reduce costs associated with human work ([14]...