Consideration of Skill Improvement on Remote Control by Wireless Mobile Robot

Abstract

This paper considers the quantification of skill progress in order to measure a remote operational skill online. This method is very important to make a support system adapting to operator. This support system is called as Human Adaptive Mechatronics (HAM) System, and HAM was done as Center of excellent(COE) project promoted by Japan Society for the Promotion of Science. Many approaches exist to attain this goal and human skill level depends on many factors such as condition, equipment and environment of operation. Therefore we first pay attention to delay time during the machine operation in order to aim at the acquisition of evaluation quantity on state of skill and we examine relationship between skill level and input/output delay time. For this analysis, we utilize a tele operated robot system to obtain data. We experiment with a simple task in which we operate a wireless mobile robot(WMR) with pinhole camera in order to reach the goal through the two check points. It is necessary that human operates machine by using image information from display monitor in the tele operation system. We analyze the correlation between operation date and WMR position based on these data. Next, we especially investigate a change of operational skill progress on curve path using data measured by simple task and analyze the data because curve control of tele operating robot only based on display is difficult to the operation in straight line path for human. For this purpose, we identified a delay of response with operation data based on ARX (AutoRegressive model with eXogenous input) model by using position and attitude data of the robot and then we analyze relationship and progress of skill level by using these data. A system operated by human can be considered as a closed loop system, and human can be regarded as controller in the system(3; 4). Furthermore, we classify operators into groups by correlation between delay time and total time of operation and area of stability poles and total time. And we analyze data by data of distance, total time and curvature and decide effective and important factors to skill level for each group. As these results, we consider skill parameter of tele-operations.