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Sensor Network Assisted Teleoperation

Sensor Network Assisted Teleoperation. Students: Jason Gorski, Aleksandra Krsteva, Yuanyuan Chen Faculty: Imad H. Elhajj Department of Computer Science and Engineering Communications and Robotics Laboratory. Remote Site. Operator Interface Site. :. Internet. Teleoperated Robot.

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Sensor Network Assisted Teleoperation

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  1. Sensor Network Assisted Teleoperation Students: Jason Gorski, Aleksandra Krsteva,Yuanyuan Chen Faculty: Imad H. Elhajj Department of Computer Science and Engineering Communications and Robotics Laboratory

  2. Remote Site Operator Interface Site : Internet Teleoperated Robot Sensor Network Force Feedback Haptic Device The Idea

  3. Challenges, Difficulties & Applications • Challenges • Collect and aggregate data • Interfacing sensor network to a human and a robot • Synchronization of data • Difficulties • Dynamic and Unknown Environment • Localization of the sensor network and the mobile robot • Sensory Errors • Energy and Processing Constraints • Applications: • Military • Safe/Efficient Navigation • Search and Recovery • Automotive • Collision Avoidance • Exploration • Space • Deep Sea • Environmental • Oil Spill Containment/Avoidance • Tracking

  4. Theory – Vector Approach Area of Interest Sensor Node Mobile Robot Light Intensity Bearing Position Scalar Distance Intensity

  5. Theory – Quadrant Approach Area of Interest Q2 Q1 Sensor Node Q3 Q4 Mobile Robot Where: C = Confidence Level of Sensor Readings I = Average Intensity Q = Quadrant Location of Each SN

  6. Experimental Setup Sensor 1 Sensor 3 Mobile Robot Sensor 2

  7. Results – Dual Sensors Single Sensor Results – For Reference

  8. Results Data Fusion Using Vector Approach Data Fusion Using Quadrant Approach

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