U-008

Distributed Control for Tele-Operations

Authors: Yeuk F. Ho, Hideyoshi Masuda, Hiroshi Oda, and Lawrence W. Stark
Affiliation: Telerobotics and Neurology Units, University of California, Berkeley (Stark & Ho)
Fujita Corporation, Tokyo; and Fujita Research, Encino, California (Masuda & Oda)

Abstract
A distributed tele-operating system has been designed and simulated in our lab with model-based supervisory control for reduced human attendance and dual sensory feedback channels of model-based, top-down image processing and global positional system, GPS, for robust vehicle pose recovery. Distributed network component design and model 3D display are based on currently available technologies. The most difficult design aspect was to achieve smooth integration between web technologies and the hardware physical entities. Constraints from the remote environment were carefully considered, since the system will be used to build a lava-diverting dam at the base of an active volcano in Japan.

Yeuk Fai Ho
et@rov.berkeley.edu