Scheduled System Maintenance:
Some services will be unavailable Sunday, March 29th through Monday, March 30th. We apologize for the inconvenience.
By Topic

Supervisory control architecture for underwater teleoperation

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

The purchase and pricing options are temporarily unavailable. Please try again later.
2 Author(s)

An overall concept and specific system elements for teleoperated vehicles and manipulators are presented. The approach emphasizes continuous, real-time sharing of control between both the human operator and the computer system and is intended for application to the JASON underwater vehicle now in development. As JASON will have extremely high communications bandwidth available through a fiber optic cable, the emphasis will be on aiding and extending the capabilities of the human operator. Specific elements presented include task-resolved motion specification, rule-based inverse kinematics, and robust and adaptive nonlinear tracking control.

Published in:

Robotics and Automation. Proceedings. 1987 IEEE International Conference on  (Volume:4 )

Date of Conference:

Mar 1987