Distributed virtual environment-based safety control for Internet tele-robots  

作　　者：高永生 Zhao Jie Gao Sheng Cai Hegao 

机构地区：[1]Robotics Institute, Harbin Institute of Technology, Harbin 150001, P.R. China [2]Mechnical Science and Engineering Institute, Daqing Petroleum Institute, Daqing 163318, P. R. China

出　　处：《High Technology Letters》2006年第2期175-181,共7页高技术通讯（英文版）

摘　　要：The inherent complexity and uncertainty of multi-operator multi-robot （MOMR） tele-operation system make its safeguard an essential problem. Hazardous factors in the system are analyzed using fault tree analysis（FTA） technology, and three-layer interactive safety architecture with information flow is designed in modules to control the factors according to the holistic control mode. After that, distributed virtual environment （DVE） including the characteristics of virtual guide （VG） technology is discussed to help the operators achieve some tasks through the visibility of control commands, time-delay, movement collision and operators＇ intentions. Finally an experiment is implemented to test the efficiency of safety control architecture by using two robots to place some building blocks in the same workspace.

关 键 词：safety architecture multi-operator multi-robot （MOMR） TELE-OPERATION distributed virtual environment （DVE） virtual guide （VG） 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]