Evaluation of Human Control in Teleoperation of Underwater Vehicles : Compative Study in Time and Frequency Domains

In this paper a study of teleoperation of remotely operated vehicles is carried out employing two sources of video, the inboard image and external camera. Additionally, a modeling of the human behavior during path tracking is performed. For this goal a structure of a nested control loop is supposed....

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Autores principales: Jordán, Mario A., Bustamante, Jorge L., Berger, Carlos E.
Formato: Objeto de conferencia
Lenguaje:Inglés
Publicado: 2010
Materias:
Ciencias Informáticas
Teleoperation
Remotely operated vehicles
Human control
Nested control loops
PID Control
Acceso en línea:http://sedici.unlp.edu.ar/handle/10915/152755
http://39jaiio.sadio.org.ar/sites/default/files/39-jaiio-ast-17.pdf
Aporte de:
SEDICI (UNLP) de Universidad Nacional de La Plata
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record_format dspace
spelling I19-R120-10915-1527552023-05-10T20:04:04Z http://sedici.unlp.edu.ar/handle/10915/152755 http://39jaiio.sadio.org.ar/sites/default/files/39-jaiio-ast-17.pdf issn:1850-2806 Evaluation of Human Control in Teleoperation of Underwater Vehicles : Compative Study in Time and Frequency Domains Jordán, Mario A. Bustamante, Jorge L. Berger, Carlos E. 2010 2010 2023-05-10T18:48:14Z en Ciencias Informáticas Teleoperation Remotely operated vehicles Human control Nested control loops PID Control In this paper a study of teleoperation of remotely operated vehicles is carried out employing two sources of video, the inboard image and external camera. Additionally, a modeling of the human behavior during path tracking is performed. For this goal a structure of a nested control loop is supposed. The inner loop involves a high-performance digital controller, while the outer loop is composed by the human teleoperation. For modeling the human control actions a PID-like controller is proposed. The identification of the parameters of the PID is carried out in both domains, time and frequency. Features of these studies are based on experiments designed by simulations and on-line interaction of the teleoperator by means of a joystick. Sociedad Argentina de Informática e Investigación Operativa Objeto de conferencia Objeto de conferencia http://creativecommons.org/licenses/by-nc-sa/4.0/ Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0) application/pdf 1694-1705
institution Universidad Nacional de La Plata
institution_str I-19
repository_str R-120
collection SEDICI (UNLP)
language Inglés
topic Ciencias Informáticas
Teleoperation
Remotely operated vehicles
Human control
Nested control loops
PID Control
spellingShingle Ciencias Informáticas
Teleoperation
Remotely operated vehicles
Human control
Nested control loops
PID Control
Jordán, Mario A.
Bustamante, Jorge L.
Berger, Carlos E.
Evaluation of Human Control in Teleoperation of Underwater Vehicles : Compative Study in Time and Frequency Domains
topic_facet Ciencias Informáticas
Teleoperation
Remotely operated vehicles
Human control
Nested control loops
PID Control
description In this paper a study of teleoperation of remotely operated vehicles is carried out employing two sources of video, the inboard image and external camera. Additionally, a modeling of the human behavior during path tracking is performed. For this goal a structure of a nested control loop is supposed. The inner loop involves a high-performance digital controller, while the outer loop is composed by the human teleoperation. For modeling the human control actions a PID-like controller is proposed. The identification of the parameters of the PID is carried out in both domains, time and frequency. Features of these studies are based on experiments designed by simulations and on-line interaction of the teleoperator by means of a joystick.
format Objeto de conferencia
Objeto de conferencia
author Jordán, Mario A.
Bustamante, Jorge L.
Berger, Carlos E.
author_facet Jordán, Mario A.
Bustamante, Jorge L.
Berger, Carlos E.
author_sort Jordán, Mario A.
title Evaluation of Human Control in Teleoperation of Underwater Vehicles : Compative Study in Time and Frequency Domains
title_short Evaluation of Human Control in Teleoperation of Underwater Vehicles : Compative Study in Time and Frequency Domains
title_full Evaluation of Human Control in Teleoperation of Underwater Vehicles : Compative Study in Time and Frequency Domains
title_fullStr Evaluation of Human Control in Teleoperation of Underwater Vehicles : Compative Study in Time and Frequency Domains
title_full_unstemmed Evaluation of Human Control in Teleoperation of Underwater Vehicles : Compative Study in Time and Frequency Domains
title_sort evaluation of human control in teleoperation of underwater vehicles : compative study in time and frequency domains
publishDate 2010
url http://sedici.unlp.edu.ar/handle/10915/152755
http://39jaiio.sadio.org.ar/sites/default/files/39-jaiio-ast-17.pdf
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AT bustamantejorgel evaluationofhumancontrolinteleoperationofunderwatervehiclescompativestudyintimeandfrequencydomains
AT bergercarlose evaluationofhumancontrolinteleoperationofunderwatervehiclescompativestudyintimeandfrequencydomains
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