8 accepted papers
The use of robots in high-risk and extreme environments is crucial for tasks that are dangerous or inaccessible to humans and require high precision. Particularly in scenarios where the cost of failure is high, remote human teleoperation can be the preferred method of robot control due to the adapta
Teleoperation of robots in space is challenging due to high latency and limited workspace visibility. Previously, the Interactive Planning and Supervised Execution (IPSE) and Augmented Virtuality systems were developed to reduce failure risk. These tools were visualized on a 3D da Vinci surgical con…
Magnetic actuation holds promise for wirelessly controlling small, magnetic surgical tools and may enable the next generation of ultra minimally invasive surgical robotic systems. Precise torque and force exertion are required for safe surgical operations and accurate state control. Dipole field est
Real-time visual localization of needles is necessary for various surgical applications, including surgical automation and visual feedback. In this study we investigate localization and autonomous robotic control of needles in the context of our magneto-suturing system. Our system holds the potentia…
Ground-based teleoperation of robot manipulators for on-orbit servicing of spacecraft represents an example of high-payoff, high-risk operations that are challenging to perform due to high latency communications, with telemetry time delays of several seconds. In these scenarios, confidence of operat…
We propose a system for visually monitoring and servoing the cutting of a multi-layer insulation (MLI) blanket that covers the envelope of satellites and spacecraft. The main contributions of this paper are: 1) to propose a model for relating visual features describing the engagement depth of the bl…
On-orbit servicing of satellites is complicated by the fact that almost all existing satellites were not designed to be serviced. This creates a number of challenges, one of which is to cut and partially remove the protective thermal blanketing that encases a satellite prior to performing the servic…
Teleoperation in extreme environments can be hindered by limitations in telemetry and in operator perception of the remote environment. Often, the primary mode of perception is visual feedback from remote cameras, which do not always provide suitable views and are subject to telemetry delays. To add