3D-SENSOR-AUGMENTED REMOTE MANIPULATION

Award Information
Agency:
Department of Energy
Branch
n/a
Amount:
$498,639.00
Award Year:
1991
Program:
SBIR
Phase:
Phase II
Contract:
n/a
Award Id:
11697
Agency Tracking Number:
11697
Solicitation Year:
n/a
Solicitation Topic Code:
n/a
Solicitation Number:
n/a
Small Business Information
300 Bent Street #200, Cambridge, MA, 02141
Hubzone Owned:
N
Minority Owned:
N
Woman Owned:
N
Duns:
n/a
Principal Investigator:
() -
Business Contact:
() -
Research Institute:
n/a
Abstract
CURRENT TELEOPERATED SYSTEMS ARE LIMITED BY MECHANICAL-MANIPULATOR TECHNOLOGY AND THE OPERATOR'S ABILITY TO PERCEIVE THE WORK ENVIRONMENT REMOTELY. DETAILEDOBSERVATIONS OF INTERACTIONS BETWEEN A MANIPULATOR AND THE ENVIRONMENT BEYOND VIDEO MONITORING AND DIRECT VIEWING WILL INCREASE REMOTE SYSTEM CAPABILITIES AND EFFICIENCIES. THE PROPOSED PROJECT IS A TECHNICAL STUDY AND DEVELOPMENT OF A 3D SENSING SYSTEM WHICH AUGMENTS THE REMOTE-MANIPULATION SYSTEM CURRENTLY PLANNED FOR A DOE FUEL-RECYCLING DEMONSTRATION FACILITY. AFTER THE OPERATOR HAS COARSELY POSITIONED THE MANIPULATOR NEAR A TARGET OBJECT, THE SYSTEM AUTOMATICALLY ALIGNS THE MANIPULATOR TO A LOCAL COORDINATE SYSTEM REFERENCED TO THE OBJECT. USING THE SENSOR-GUIDED ALIGNMENT FEATURE WITH THE MANIPULATOR'S PLAYBACK CAPABILITIES RELIEVES THE OPERATOR FROM TEDIOUS REPETITIVE TASKS. IN ADDITION, THE OPERATOR IS PRESENTED WITH A THREE-DIMENSIONAL DISPLAY OF THE ENVIRONMENT GENERATED FROM THE SENSOR DATA. THE DATA MAY BE VIEWED FROM VARIOUS DIRECTIONS TO ENHANCE THE OPERATOR'S PERCEPTION OF THE TASK STATE WITHOUT MOVING THE MANIPULATOR OR THE SENSOR.

* information listed above is at the time of submission.

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