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Discontinuity Detection for Analysis of Telerobot Trajectories
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Author and Affiliation:
Yeom, Kiwon(San Jose State Univ. Research Foundation, San Jose, CA, United States);
Ellis, Stephen R.(NASA Ames Research Center, Moffett Field, CA, United States);
Adelstein, Bernard D.(NASA Ames Research Center, Moffett Field, CA, United States)
Abstract: To identify spatial and temporal discontinuities in telerobot movement in order to describe the shift in operators control and error correction strategies from continuous control to move-and-wait strategies. This shift was studied under conditions of simulated increasingly time-delayed teleoperation. The ultimate goal is to determine if the time delay associated with the shift is invariant with independently imposed control difficulty. We expect this shift to manifest itself as changes in the number of discontinuity of movement path. We proposed an approach to spatial and temporal discontinuity detection algorithm for analysis of teleoperated trajectory in three dimensional space. The algorithm provides a simple and potentially objective method for detecting the discontinuity during telerobot operation and evaluating the difficulty of rotational coordinate condition in teleoperation.
Publication Date: Feb 12, 2013
Document ID:
20130011004
(Acquired Mar 14, 2013)
Subject Category: CYBERNETICS, ARTIFICIAL INTELLIGENCE AND ROBOTICS
Report/Patent Number: ARC-E-DAA-TN7892
Document Type: Oral/Visual Presentation
Meeting Information: NASA Human Research Program Investigators Workshop; 12-14 Feb. 2013; Galveston, TX; United States
Contract/Grant/Task Num: NNX12AB08A; WBS 466199.02.01.01
Financial Sponsor: NASA Ames Research Center; Moffett Field, CA, United States
Organization Source: NASA Ames Research Center; Moffett Field, CA, United States
Description: 1p; In English; Original contains color illustrations
Distribution Limits: Unclassified; Publicly available; Unlimited
Rights: Copyright; Distribution as joint owner in the copyright
NASA Terms: ALGORITHMS; DELAY; DETECTION; DISCONTINUITY; ERROR ANALYSIS; ROBOTS; TELEOPERATORS; TIME LAG; TRAJECTORIES
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