Remote Learning VATAT

Remote Learning for the Manipulation and Control of Robotic Cells : 

Remote Learning for the Manipulation and Control of Robotic Cells Goldstain Ofir Advisors: Ben-Gal Irad, Bukchin Yossi Department of industrial engineering Tel-Aviv University

Outline: 

Outline Background: Tele-Operation via Remote learning requirements Alternative approaches for the remote control & learning lab Applied system at the Tel-Aviv University CIM Lab Call for cooperation

Background: Tele-Operation: 

Background: Tele-Operation Ex: submarines, mines, remote surgery Use: control & operation of remotely located robots and machines Generally used in a hostile, remote and inaccessible environments Often the environment is well defined, with a set of predetermined actions for the robot

Background: Remote-Learning: 

Background: Remote-Learning Ex: Plane simulator, process simulator Use: training an operator for different and flexible work environments Improving an operator’s skills, by using a “trial and error” process simulation as a tool for learning and improving the operational skills

Remote control & learning lab: basic requirements: 

Remote control & learning lab: basic requirements Visual feedbacks from the remote site Intuitive interface for the control of the robot and other lab equipment Users administration, block and overlap prevention, data security Moderate bandwidth requirements Safety !

Outline: 

Outline Background: Tele-Operation via Remote learning requirements Alternative approaches for the remote control & learning lab Applied system at the Tel-Aviv University CIM Lab Call for cooperation

Remote learning:possible approaches: 

Remote learning: possible approaches Lab based controller (via emulator) Home based (observation) controller Website based controller

Lab based control scheme: 

Lab based control scheme Other devices in the cell Camera/s sensors USER HOME LAB Robot EMULATOR Robotic cell controller Simulation program internet

Lab based controller: 

Lab based controller Advantages – working as is on-site (except for visual feedback), does not require installations at home Disadvantages – bad users administration (single user), poor data security, wide bandwidth required for learning mode (not supported)

Home based control scheme: 

Home based control scheme Other devices in the cell Camera/s sensors USER HOME LAB controller Robot Simulation program Robotic cell controller

Home based controller: 

Home based controller Advantages – minimal bandwidth for learning mode Disadvantages – requires installation on the user’s computer, bad users administration (single user), poor data security, inability to interfere during execution (safety issues)

Website based control scheme: 

Website based control scheme Other devices in the cell Camera/s sensors Tele-operation Learning module

Website based controller: 

Website based controller Advantages – robust interface, good users administration, immediate control & feedback, good data security. Disadvantages – requires a designated server, requires some installations on the user’s computer

Outline: 

Outline Background: Tele-Operation via Remote learning requirements Alternative approaches for the remote control & learning lab Applied system at the Tel-Aviv University CIM Lab Call for cooperation

Task-learning simulator: 

Task-learning simulator RoboCell© is a 3D simulation program designed by Inteliteck for planning & programming a robotic work cell Supports “trail and error” learning Simulation programs can manipulate the lab equipment Download (~10MB) and used at the user home at his “free time”

Our web-site interface: 

Our web-site interface The web-site designed includes the following modules: Live (buffered) video feed from the remote cell Robot control and operation module Feedback from the robot’s encoders Data management and uploading module Visual documentation tool for the cell

Work-flow:: 

Work-flow:

Remote Control & learning Lab:Advantages: 

Remote Control & learning Lab: Advantages Higher accessibility of students to expensive lab equipment Efficient usage of lab equipment at flexible hours (e.g., very late, holidays) Assimilation of the importance of 3D simulation in the planning process Modern (sexier) look of CIM labs

הערכת ההפעלה הנסיונית: 

הערכת ההפעלה הנסיונית "נהניתי מההזדמנות להתנסות בשליטה מרחוק" 52 סטודנטים מתוך 60 (87%) ענו כי נהנו במידה בינונית עד רבה "ממשק המשתמש לשליטה מרחוק הוא נוח לשימוש" 49 סטודנטים מתוך 60 (82%) ענו כי הממשק נוח במידה בינונית עד רבה "האפשרות לסימולציה שיפרה את ביצוע המעבדה" 33 סטודנטים מתוך 42 שהתנסו בסימולציה (79%) ענו כי הסימולציה תרמה במידה בינונית עד רבה

The End: 

The End Questions & Comments?