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Teleoperation of a Biomimetic Squid Robot's Arms Via Multiple Haptic Interfaces = = Biomimetik Murekkepbaligi Robotunun Kollarinin Coklu Haptik Arayuzlerle Teleoperasyonu.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Teleoperation of a Biomimetic Squid Robot's Arms Via Multiple Haptic Interfaces =/
其他題名:	Biomimetik Murekkepbaligi Robotunun Kollarinin Coklu Haptik Arayuzlerle Teleoperasyonu.
其他題名:	Biomimetik Murekkepbaligi Robotunun Kollarinin Coklu Haptik Arayuzlerle Teleoperasyonu.
作者:	Emet, Hazal.
面頁冊數:	1 online resource (120 pages)
附註:	Source: Masters Abstracts International, Volume: 84-02.
Contained By:	Masters Abstracts International84-02.
標題:	Autonomous underwater vehicles. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=29276482click for full text (PQDT)
ISBN:	9798841569480

Teleoperation of a Biomimetic Squid Robot's Arms Via Multiple Haptic Interfaces = = Biomimetik Murekkepbaligi Robotunun Kollarinin Coklu Haptik Arayuzlerle Teleoperasyonu.
Emet, Hazal.

Teleoperation of a Biomimetic Squid Robot's Arms Via Multiple Haptic Interfaces =Biomimetik Murekkepbaligi Robotunun Kollarinin Coklu Haptik Arayuzlerle Teleoperasyonu.Biomimetik Murekkepbaligi Robotunun Kollarinin Coklu Haptik Arayuzlerle Teleoperasyonu. - 1 online resource (120 pages)

Source: Masters Abstracts International, Volume: 84-02.

Thesis (M.Sc.)--Izmir Institute of Technology (Turkey), 2022.

Includes bibliographical references

Biomimetic robot systems have captured the attention of researchers for the past two decades. Along with biomimetic systems, the implementation of soft robotic arms has emerged and studied. Teleoperation of such biomimetic soft robots, i.e., a biomimetic squid robot, is still an open area of research.This study aims to initiate the development of a teleoperation system, which has multi-master multi-slave with dissimilar master-slave kinematics, to be adapted for the operation of an underwater biomimetic squid robot. The communication between the slave robot, which is the biomimetic squid robot's soft arms, and the master system on the ground is estimated to have limited bandwidth. To overcome this problem, the model-mediation technique is selected to be adapted. The abstract information received from the slave side is used for regenerating the slave environment on the master side. The human operator uses two haptic devices to manipulate the four soft arms of this biomimetic robot via interacting with this regenerated model on the master side. The models of the biomimetic robot's soft arms are developed by using the constant-curvature approach.While this study is limited in the sense that the slave side regeneration is previously completed on an ideally received signal even before the teleoperation is initiated, the teleoperation of 4 soft arms with two haptic devices is investigated. 4 different control strategies are formulated and evaluated on test subjects. The performances of the test subjects are evaluated based on their task completion duration, accuracy, and feedback received from their questionnaire answers. The primary investigation conducted is for the ergonomic use of teleoperation systems. Another evaluation is carried out to understand the influence of haptic feedback in telepresence. The evaluation results clearly indicate that the haptic feedback has improved the telepresence. The position-to-position mapping produced shorter task completion durations with worse accuracy relative to the position-to-velocity mapping.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2023

Mode of access: World Wide Web

ISBN: 9798841569480Subjects--Topical Terms:

3444520
Autonomous underwater vehicles.
Index Terms--Genre/Form:

542853
Electronic books.

Teleoperation of a Biomimetic Squid Robot's Arms Via Multiple Haptic Interfaces = = Biomimetik Murekkepbaligi Robotunun Kollarinin Coklu Haptik Arayuzlerle Teleoperasyonu.
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245 1 0 $a Teleoperation of a Biomimetic Squid Robot's Arms Via Multiple Haptic Interfaces = $b Biomimetik Murekkepbaligi Robotunun Kollarinin Coklu Haptik Arayuzlerle Teleoperasyonu.
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500 $a Source: Masters Abstracts International, Volume: 84-02.
500 $a Advisor: Dede, Mehmet Ismet Can.
502 $a Thesis (M.Sc.)--Izmir Institute of Technology (Turkey), 2022.
504 $a Includes bibliographical references
520 $a Biomimetic robot systems have captured the attention of researchers for the past two decades. Along with biomimetic systems, the implementation of soft robotic arms has emerged and studied. Teleoperation of such biomimetic soft robots, i.e., a biomimetic squid robot, is still an open area of research.This study aims to initiate the development of a teleoperation system, which has multi-master multi-slave with dissimilar master-slave kinematics, to be adapted for the operation of an underwater biomimetic squid robot. The communication between the slave robot, which is the biomimetic squid robot's soft arms, and the master system on the ground is estimated to have limited bandwidth. To overcome this problem, the model-mediation technique is selected to be adapted. The abstract information received from the slave side is used for regenerating the slave environment on the master side. The human operator uses two haptic devices to manipulate the four soft arms of this biomimetic robot via interacting with this regenerated model on the master side. The models of the biomimetic robot's soft arms are developed by using the constant-curvature approach.While this study is limited in the sense that the slave side regeneration is previously completed on an ideally received signal even before the teleoperation is initiated, the teleoperation of 4 soft arms with two haptic devices is investigated. 4 different control strategies are formulated and evaluated on test subjects. The performances of the test subjects are evaluated based on their task completion duration, accuracy, and feedback received from their questionnaire answers. The primary investigation conducted is for the ergonomic use of teleoperation systems. Another evaluation is carried out to understand the influence of haptic feedback in telepresence. The evaluation results clearly indicate that the haptic feedback has improved the telepresence. The position-to-position mapping produced shorter task completion durations with worse accuracy relative to the position-to-velocity mapping.
520 $a Biyomimetik robot sistemleri, son yirmi yildir arastirmacilarin dikkatini cekmektedir. Biyomimetik sistemlerle birlikte yumusak robot kollarinin uygulamasi ortaya cikmistir ve incelenmektir. Bu tur biyomimetik yumusak robotlarin, bir biyomimetik kalamar robotunun teleoperasyonu hala acik bir arastirma alanidir.Bu calisma, bir sualti biyomimetik kalamar robotunun operasyonu icin uyarlanacak, farkli ana sistem-bagimli sistem kinematigine ve coklu ana sistem ve coklu bagimli sistem ozelligine sahip bir teleoperasyon sisteminin gelistirilmesine ilk adim olusturmayi amaclamaktadir. Biyomimetik kalamar robotunun yumusak kollari olan bagimli robot ile karada bulunan ana sistem arasindaki iletisimin sinirli bant genisligine sahip oldugu tahmin edilmektedir. Bu sorunun ustesinden gelmek icin model-aracili teleoperasyon teknigi uyarlanmak uzere secilmistir. Bagimli sistem tarafindan alinan yalin bilgi, ana sistem tarafinda bagimli sistem ortamini yeniden olusturmak icin kullanilmaktadir. Insan operator, bu biyomimetik robotun 4 yumusak kolunu ana sistem tarafindaki bu yenilenen modelle etkilesime girerek manipule etmek icin iki haptik cihaz kullanmaktadir. Biyomimetik robotun yumusak kollarinin modelleri, sabit egrilik yaklasimi kullanilarak gelistirilmistir.Bu calisma, teleoperasyon baslatilmadan once ideal olarak alinan sinyal ile bagimli sistem tarafinin yenilenmesinin onceden tamamlanmis olmasi anlaminda sinirli olmakla birlikte, iki haptik cihazla 4 yumusak kolun teleoperasyonu arastirilmistir. Denekler uzerinde 4 farkli kontrol stratejisi formule edilmis ve degerlendirilmistir. Deneklerin performanslari, gorev tamamlama sureleri, dogruluklari ve anket cevaplarindan alinan geri bildirimlere gore degerlendirilmistir. Yapilan temel arastirma, teleoperasyon sistemlerinin ergonomik kullanimina yoneliktir. Haptik geribildirimin telebulunma uzerindeki etkisini anlamak icin ikincil bir degerlendirme yapilmistir. Degerlendirme sonuclari, dokunsal geribildirimin telebulunmayi iyilestirdigini acikca gostermektedir. Konumdan konuma esleme, konumdan hiza eslemeye gore daha kotu dogrulukla daha kisa gorev tamamlama sureleri uretmistir.
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650 4 $a Software. $2 gtt. $3 619355
650 4 $a Sensors. $3 3549539
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650 4 $a Robotics. $3 519753
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773 0 $t Masters Abstracts International $g 84-02.
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=29276482 $z click for full text (PQDT)