Graeme Smith Supervisors: Dr James Gain Description Create a - PowerPoint PPT Presentation

Jason Brownbridge Graeme Smith Supervisors: Dr James Gain

Description  Create a virtual environment from robot sensors  Allow operator to control robot by manipulating it within the virtual environment  Conduct research into effect of latency, optimal acceleration function and comparison between new system and existing systems.

Background (1) - Wii  What is the Wii?  Why?  Allows us to implement  Head Tracking  Haptic Feedback Wiimote  Audio Feedback  Provide Control Mechanism  Relatively Cheap (< R500)  Readily Available  Freely Available SDKs Wii Nunchuck

Background (2) - Robots • Rescue Robots • World Trade Centre 2001 • South Africa mine rescues • Surveillance Robots • Military

System Headband containing infrared sources Stereoscopic headset Wiimotes mounted • Robot on backpack Backpack • containing laptop Headtracking Nunchuck • Driving Control • Simulator

Research  Covers both Teleoperation and Virtual Environments  We will address the following key questions: What role does latency play in camera control and how 1. can it be mitigated? What role does latency play in driver control and how 2. can it be mitigated? What is an optimal function for acceleration control? 3. How does our system perform in comparison to a 4. traditional joystick monitor systems?  How?

Experimentation  Methodology  User based and Quantitative  Ethical Issues  Simulator sickness  Experiments Different Latency Mitigation Strategies 1. Effect on simulation sickness – use a questionnaire  Different Acceleration Functions 2. Effect on performance – use metric of navigation time  Comparison of new System with Traditional System using the 3. following metrics Navigation Time  Task Performance Rate  Learning Time 

Dividing of Work • System • Simulator Graeme • Robot Control Graeme • Lag issues • Acceleration function

Initial System Prototype Incorporation of Experimental Results based on Final User Testing