Predictive Displays and Latency Protections for High Latency Teleoperation

Award Information
Agency:
Department of Defense
Branch
Army
Amount:
$69,872.00
Award Year:
2010
Program:
SBIR
Phase:
Phase I
Contract:
W56HZV-10-C-0222
Award Id:
97769
Agency Tracking Number:
A093-188-0476
Solicitation Year:
n/a
Solicitation Topic Code:
Army 09-188
Solicitation Number:
n/a
Small Business Information
P.O. Box 346, Calumet, MI, 49913
Hubzone Owned:
N
Minority Owned:
N
Woman Owned:
N
Duns:
803724301
Principal Investigator:
Gary Witus
Vice President of R&D
(734) 665-4818
witus@signatureresearchinc.com
Business Contact:
Tracy Maki
Business Manager
(906) 337-3360
gedrew@poc.com
Research Institute:
n/a
Abstract
We will develop and demonstrate robust and reliable methods for high-latency teleoperation with Predictive Display (PD), Latency Protection (LP) and Supervisory Control (SC). PD conveys the effects of latent commands not yet reflected in the display. Augmented Reality PD (ARPD) overlays an icon indicating the predicted position and orientation using nominal terrain and motion models. Virtual Reality PD (VRPD) warps the image to the predicted perspective using a f?o2A Df?? model constructed via video feature tracking. LP limits translation and rotation rates, and shapes acceleration response, as functions of observed latency and operator behavior. In extreme situations, LP brakes to prevent operator overreaction. LP is inspired by AntiLock Braking: it has no observable effect within safety margins. Phase I will implement ARPD and LP on a Packbot, and begin VRPD. The Option will test Visual Servoing SC (VSSC) and open-loop Displacement Command SC (DCSC) for high-latency teleoperation, and implement VRPD. VSSC developed under a prior separate effort. ARPD, LP and DCSC are software-only solutions that can be implemented on existing UGVs without additional hardware. We will conduct developmental testing to optimize and compare the methods based on task performance, stress-related biosignals and subjective workload assessment.

* information listed above is at the time of submission.

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