A research program is underway to improve the work capabilities of small, tethered ROV's. An advanced super visory control system that allows the human operator to control the motions of both the vehicle and manipulator in a coordinated fashion is currently under development. The goal of the system is to allow the human supervisor to think in terms of end effector motions rather than using separate vehicle and manipulator commands. The resulting suvervisory control system will be implemented first in computer simulation, then on an experimental prototype vehicle system consisting of a Benthos RPV-430 and Deep Ocean Engineering manipulator. After sufficient development experimentation, the supervisory ocean tethered ROV that will emerge from the towed ARGO vehicle. JASON will include stereo imaging, dual manipulators, and a fiber-optic telemetry system.
Man-machine interface and control concepts for the JASON program
Mensch-Maschine-System und Kontrollkonzepte fuer das JASON-Programm
1984
6 Seiten, 4 Bilder, 5 Quellen
Conference paper
English
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