Teleoperation Systems Quiz
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Questions and Answers

Which term best describes a system where a human operator controls a robot from a distance?

  • Remote control
  • Supervisory control
  • Telepresence
  • Teleoperation (correct)

    • Which of the following is NOT a key component of a telesystem?

  • Autonomous planning module (correct)
  • Communication link
  • Operator interface
  • Proprioception

    • What is characteristic of a 'shared control' scheme in a teleoperated system?

  • The robot and human operator simultaneously contribute to the control of the robot. (correct)
  • Control is passed between the human and autonomous systems, not at the same time.
  • The robot executes pre-programmed actions without human input.
  • The human operator directly controls all aspects of the robot's movement.

    • The 'out-of-the-loop' (OOTL) problem is primarily a concern in what type of control?

    <p>Semi-autonomous control (A)</p> Signup and view all the answers

    In telesystems, what is proprioception primarily related to?

    <p>The robot's awareness of its internal state, like joint angles. (D)</p> Signup and view all the answers

    In a typical teleoperation setup, what is the primary role of the teleoperator?

    <p>Supplying deliberative inputs to the system (A)</p> Signup and view all the answers

    What principle does the use of antilock brakes in a car best illustrate?

    <p>Shared control between human and machine (B)</p> Signup and view all the answers

    What is the central concept behind 'guarded motion' in robotics?

    <p>A type of control where the robot protects itself from human errors (B)</p> Signup and view all the answers

    Which of the following is NOT a component of 'guarded motion'?

    <p>Human : Robot Ratio (C)</p> Signup and view all the answers

    What is a significant consideration within the realm of human factors in robotics?

    <p>Cognitive Fatigue (A)</p> Signup and view all the answers

    In teleoperation, 'latency' primarily refers to what?

    <p>The time delay between command and execution (B)</p> Signup and view all the answers

    According to the information, how does the time to perform a task in traditional teleoperation relate to the transmission delay?

    <p>It increases linearly with increasing delay. (D)</p> Signup and view all the answers

    What potential danger does latency pose in the context of remote teleoperation?

    <p>The teleoperator may be unaware of hazards due to time delay (B)</p> Signup and view all the answers

    In a teleoperation system with a local control loop, what is the primary function of the inner loop?

    <p>To directly control the effector based on local sensor feedback. (B)</p> Signup and view all the answers

    What is a key characteristic of a system using traded control between a teleoperator and telefactor?

    <p>The teleoperator and the telefactor switch roles in controlling different parts of the task. (C)</p> Signup and view all the answers

    In the context of robotics, what does OOTL refer to?

    <p>Out of the loop, where the robot operates autonomously without operator intervention. (B)</p> Signup and view all the answers

    Which control method involves both the teleoperator and the telefactor contributing simultaneously to the control of the task?

    <p>Shared control (B)</p> Signup and view all the answers

    Where is the control loop primarily located in a purely local control system?

    <p>At the local site (A)</p> Signup and view all the answers

    In the context of manual control, where does the primary controller reside?

    <p>The remote operator (A)</p> Signup and view all the answers

    What is the main role of the display unit in a teleoperation system?

    <p>To present sensor feedback to the operator (D)</p> Signup and view all the answers

    Which of the following best describes the concept of supervisory control in robotics?

    <p>The robot operates autonomously, while the operator mostly monitors but steps in as needed. (D)</p> Signup and view all the answers

    What is the purpose of communication between the local and remote sites in a teleoperation system?

    <p>To send control commands and sensor feedback between the operator and robot. (D)</p> Signup and view all the answers

    In traded control, which entity has the capability to lead the control of the task?

    <p>Either the teleoperator or the telefactor, depending on the task requirements. (A)</p> Signup and view all the answers

    If a teleoperation task takes 1 minute on Earth, approximately how long would it take on Mars?

    <p>140 minutes (A)</p> Signup and view all the answers

    According to the provided ratios, what is the maximum number of vehicles and payloads a team of 5 humans can support?

    <p>1 vehicle and 2 payloads (B)</p> Signup and view all the answers

    Which of the following is a concern regarding human out-of-the-loop control?

    <p>Humans may not be adept at taking over from automation failures. (D)</p> Signup and view all the answers

    What is a key characteristic of tasks best suited for teleoperation?

    <p>Unstructured and not repetitive tasks. (D)</p> Signup and view all the answers

    Why is an environment that can't be engineered to work with industrial manipulators considered a use-case for telesystems?

    <p>Telesystems can operate in varied environments. (B)</p> Signup and view all the answers

    Which of the following is NOT a concern when determining if a telesystem is appropriate?

    <p>The cost of the telesystem components (B)</p> Signup and view all the answers

    What aspect of a task is central when considering telesystems instead of automation?

    <p>Whether the task requires object recognition and situational awareness. (D)</p> Signup and view all the answers

    What does the term 'OOTL' refer to in the context of human-robot interaction?

    <p>Out Of The Loop (A)</p> Signup and view all the answers

    Which control type is characterized by a human operator intermittently giving directives to a computer that manages an autonomous control loop?

    <p>Supervisory control (D)</p> Signup and view all the answers

    In supervisory control, what is a key role of the computer system?

    <p>Closing an autonomous control loop through artificial effectors and sensors. (B)</p> Signup and view all the answers

    What aspect of human involvement is considered essential in supervisory control, even when the system operates autonomously?

    <p>To set the initial objectives for the system (A)</p> Signup and view all the answers

    What is meant by 'information may be the lack of information' in the context of supervisory control?

    <p>No interesting events have occurred, so no unusual data transmission is needed. (B)</p> Signup and view all the answers

    In the context of a telesystem, what does 'local' typically refer to?

    <p>The operator's station and environment (B)</p> Signup and view all the answers

    Which of the following best describes a 'shared' control system?

    <p>A system where control is split between the human and the robot, each performing different parts of the task. (B)</p> Signup and view all the answers

    What capability is essential for a robotic system when under supervisory control, as mentioned in the text?

    <p>The ability to project the effect of actions and compensate for time delays. (A)</p> Signup and view all the answers

    Which option exemplifies a manned system that utilizes elements of supervisory control?

    <p>An auto-pilot system in an aircraft. (D)</p> Signup and view all the answers

    Which control type involves an operator directly controlling the robot's actions?

    <p>Manual control (B)</p> Signup and view all the answers

    In a semi-autonomous system, what does 'OOTL' stand for?

    <p>Out of the loop (B)</p> Signup and view all the answers

    What is the term for the measurements of the robot's body position relative to the environment layout?

    <p>Exproprioception (B)</p> Signup and view all the answers

    Which type of control allows for a division of tasks between the human and the robot?

    <p>Shared control (B)</p> Signup and view all the answers

    What is the primary limitation when using manual control while not being able to see the robot directly?

    <p>Lack of environmental awareness due to interface limitations. (C)</p> Signup and view all the answers

    Which of the following describes measurements of movements relative to an internal frame of reference?

    <p>Proprioception (B)</p> Signup and view all the answers

    What is Teleoperation sometimes referred to as?

    <p>A telefactor (C)</p> Signup and view all the answers

    What is the primary control method when an operator can see the robot, and needs fine-grained control?

    <p>Manual control (C)</p> Signup and view all the answers

    Which term describes the measurements of the layout of the environment around the robot?

    <p>Exteroception (B)</p> Signup and view all the answers

    In the context of autonomy, which of the below is likely to be the least autonomous?

    <p>Manual control (A)</p> Signup and view all the answers

    What type of control might be used when an operator is at a distance from the robot and cannot directly see it, but can still issue commands?

    <p>Remote control (B)</p> Signup and view all the answers

    What is a primary benefit of 'shared control' over 'manual control'?

    <p>Distribution of responsibilities between human and robot. (D)</p> Signup and view all the answers

    In supervisory control, which element is the 'primary controller' for the robot?

    <p>The robot itself. (A)</p> Signup and view all the answers

    What is one of the main difficulties associated with manual control when the operator can not see the robot?

    <p>Insufficient feedback between operator and the robot (A)</p> Signup and view all the answers

    Under which control type does the robot have complete freedom to act upon the surrounding?

    <p>Autonomous control (D)</p> Signup and view all the answers

    Flashcards

    Telesystem

    A system that allows a human operator to control a remote robot or device.

    Supervisory Control

    A control scheme where a human operator monitors and intervenes in a robot's actions.

    Shared Control

    A control scheme where there is a balance between human operator input and robotic autonomy.

    Traded Control

    A control scheme where a human operator can take over control of a robot at any time.

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    Out of the Loop Control (OOTL)

    A control scheme where the human operator is completely removed from the control loop.

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    Manual Control

    A control scheme where the human operator has complete control over the robot. The robot only acts as a tool for the human.

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    Autonomous Control

    A control scheme where the robot is fully autonomous and makes its own decisions without human intervention.

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    Out-of-the-Loop (OOTL)

    A control scheme where a robot performs tasks that require human oversight because of safety or ethical concerns. Humans are 'out of the loop' during standard operations but can intervene if needed.

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    Semi-autonomous Control

    A control scheme where the robot can handle routine tasks, but the human operator can take over for more complex or dangerous situations.

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    Remote Control

    The control of a physical system by a human operator from a remote location.

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    Teleoperation

    A control scheme where the human operator can take over control of the robot at any time. The operator may be physically distant from the robot, but can intervene in the task execution whenever needed.

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    Proprioception

    The measurements of a robot's movements relative to its internal frame of reference. Think of how your body knows where your limbs are even when you're blindfolded.

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    Exteroception

    The measurements of the environment and objects relative to the robot's position. Think of how you use your vision to navigate a room.

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    Exproprioception

    The measurement of a robot's position and parts relative to the layout of the environment. Think of how you use your vision and body awareness to navigate a complex obstacle course.

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    Guarded Motion

    A form of human-in-the-loop control where the robot safeguards itself from unintended consequences resulting from human commands.

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    Autonomy Intervention Criteria

    The criteria used to determine when the robot should intervene and take control from the human operator due to potential risks or unsafe situations.

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    Command Integration Method

    The method used to combine commands given by the human operator with the robot's autonomous actions during guarded motion.

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    Monitored Condition

    The specific condition being monitored by the robot to assess the risk of unintended consequences and activate guarded motion.

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    Interface Modality

    The type of interface used by the robot to convey information to the human operator, such as visual displays or auditory signals, during guarded motion.

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    Display Preprocessing

    How the robot processes and presents information to the human operator to help them understand the situation better during guarded motion.

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    Cognitive Fatigue

    A cognitive state that occurs when humans operate robots for extended periods, leading to reduced alertness, focus, and decision-making capabilities.

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    Latency

    The time it takes for information to travel between the human operator and the robot, which can impact the efficiency and safety of teleoperated tasks.

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    Teleoperation Time and Distance

    The time required to complete a teleoperation task increases significantly with distance from the teleoperator. For example, tasks taking 1 minute on Earth might take 2.5 minutes on the Moon and 140 minutes on Mars.

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    Safe Human-Robot Ratio Formula

    A rule for determining a safe ratio of humans to vehicles and payloads in a teleoperation scenario. The formula ensures a sufficient number of humans to manage the system effectively.

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    Human Out-of-the-Loop (OOTL) Control Problem

    The phenomenon where humans struggle to effectively resume control of a system after a period of automation. This can be dangerous if the system malfunctions or needs immediate intervention.

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    Suitability of Teleoperation Applications

    Teleoperation is most suited for tasks that are unpredictable, require dexterity, involve object recognition, and have limited bandwidth constraints.

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    Teleoperation with Low Latency

    The ability of a teleoperator to control a remote robot or device with little to no lag in communication. This is crucial for tasks that require precise movements and real-time feedback.

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    What is a Telesystem?

    A system that allows human operators to control remote robots or devices.

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    Telesystems: Temporary or Different AI?

    Teleoperation may be a temporary solution for certain tasks until AI advances further, or it might represent a distinct mode of human-robot interaction.

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    Shared Human-Robot Control in Teleoperation

    A system that incorporates both human and robotic control elements, allowing humans to provide oversight and intervene when needed. The robot handles routine tasks, and the human takes over for complex or dangerous situations.

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    Study Notes

    Teleoperation

    • Teleoperation is a type of human supervisory control, sometimes viewed as a "necessary/temporary evil" alternative to full AI autonomy.

    • It's a popular choice for remote applications.

    • Teleoperation is often used as a transitional step toward fully autonomous systems.

    • Telesystems are essential for certain applications where a robotic task requires human interaction.

    • Key components of a telesystem include Local (display, local control device), Communication, and Remote (sensor, control, effector, power).

    Learning Objectives

    • Students should be able to identify the seven components of a telesystem.
    • Understanding the different styles of Human supervisory control (manual, traded, shared, and autonomy).
    • Evaluating which domains are well-represented by telesystems.
    • Categorizing supervisory control schemes as manual, traded, shared, or autonomy based on the offered descriptions.
    • Detailing three key characteristics of suitable domains for telesystems.
    • Explaining the out-of-the-loop problem in semi-autonomy.

    Outline

    • Theory section includes discussion of teleoperation, telesystem components, supervisory control types, and a general summary.
    • Practical section covers case studies, human out-of-the-loop control, and scenarios where telesystems are suitable.
    • AI Recap focuses on where AI excels and where there are limits.
    • Summarizing the solutions for effective telesystem applications.

    Definitions

    • Taskable agent: a system given a task, completing it without supervision, then returning information.
    • Remote presence: the task and role(s) are jointly handled by humans and robots in a blended cognitive system.
    • Distinctions between taskable agents and remote presence aren't mutually exclusive, and instances can co-occur.

    Relevance for Teleoperation

    • Teleoperation is a practical technique, as a workaround for challenges like perceptual deficiencies.
    • Teleoperation often provides the intended result.

    Components of a Telesystem (Uttal 89)

    • Local: Display, Control
    • Remote: Sensor, Communication, Control, Effector, Power

    7 Components of a Telesystem

    • Local components (2): display, local control device.
    • Communication components (1): connection.
    • Remote components (4): remote control device, sensor, effector, power.

    Hot New Trend

    • Teleoperation is the current standard for DoD and Public Safety mobile robotics applications.
    • Useful for remote operations, especially those needing a transitional path to fully autonomous technology.
    • While not universally applicable as a failsafe across all robotic applications, teleoperation remains vital for tasks involving significant human-robot interaction.

    Non-Anthropomorphic Systems

    • Teleoperation and control remain adaptable to systems not resembling human construction.

    How Do You Control a Telesystem?

    • This is equivalent to "Human supervisory control," a broader term not confined to unmanned vehicles.
    • Manned systems (auto-pilot, fly-by-wire) and factory automation also use variations of the methodology.

    Supervisory Control

    • Human operators intermittently specify directives while continually monitoring system updates through information provided by the system's sensors and effectors.
    • The human maintains continual involvement, even if it's just to set objectives.
    • Humans interact with the operation's information and influence the overall system.
    • There are many ways in which the computer is involved, including the compensation for delays, designing inner-loop control methods, and enabling safety/self-preservation reflexes.

    Types of Human Supervisory Control

    • Classifications based on robot visibility and intelligence center:
      • Robot primary controller / operator sees robot
      • Robot primary controller / operator can't see robot
      • Operator primary controller / operator sees robot
      • Operator primary controller / operator can't see robot

    Summary of Supervisory Control types

    • Robot primary controller/Operator sees robot: Remote controlled
    • Robot primary controller/Operator can't see robot: Manual control
    • Operator primary controller/Operator sees robot: Remote controlled
    • Operator primary controller/Operator can't see robot: Manual control
    • Classifications according to shared interaction and robot responsibility (social interactions, autonomy, remote controlled, and manual control)

    Downside of Manual Control

    • Lack of direct visual feedback: Insufficient interfaces inhibit the user's perception of the robot's real-time location and surrounding context.
    • Need for sensor inputs: Proprioception, exteroception, and exproprioception are critical for achieving sufficient awareness of the robot’s position, relationships with the environment, and its components.

    Example: Manual Control

    • An example of a manual control scenario involves a visually guided robot or system.

    Traded Control

    • Human and robot responsibilities are split.
    • Involves switching control of the task between operator and robot as needed.

    Shared Control

    • Simultaneous input from both human and robot for control.
    • Tasks are categorized into deliberation (human) and reaction (robot).

    Guarded Motion

    • Developed for human-in-the-loop control to mitigate unintended consequences caused by directives.
    • Key elements in safeguarding system from unintended consequences are defined.

    Guarded Motion Components

    • Autonomy Intervention Criteria, Command Integration Method, Monitored Condition, Interface Modality, and Display Preprocessing.

    Human Factors in Teleoperation

    • Cognitive fatigue: associated effects, like Keyhole Effect and Simulator Sickness, negatively impacting the user.
    • Latency: the time delay in communication between the human operator and the remote robot can create serious issues.
    • Human-Robot Ratio: The safe human-to-robot ratio is calculated.
    • Out-of-the-loop problems: When humans lose track of what the robot is doing, control failures can occur.

    Guidelines for Determining Suitable Telesystems

    • The task should be unstructured and not repetitive.
    • The task workspace should not be conducive for industrial manipulators.
    • Key components of the tasks demand dexterity (hand-eye coordination)

    Mini-Summary: Telesystem Theory

    • Teleoperation is a popular alternative to full autonomy for remote applications. It leverages the human-robot interaction.
    • Human supervisory control is necessary to guide telesystems, despite potential limitations.
    • Important distinctions of how people handle telesystems and the differences between various control strategies are explained.

    Summary

    • Telesystems present a practical alternative to full robotic autonomy.
    • Human supervisory control is the framework for teleoperation.
    • Supervisory control stretches from manual input to full automation.
    • Issues like cognitive fatigue, communication delay, and human-to-robot ratio affect control efficiency and safety.
    • Teleoperation or shared control is not always optimal as a fail-safe due to typical out-of-the-loop control problems.

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    Ch5 Teleoperation PDF

    Description

    Test your knowledge on teleoperation systems and concepts! This quiz covers important aspects such as telesystems, shared control schemes, and human factors in robotics. Answer questions related to remote robot control and the implications of latency in teleoperation.

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