Checking date: 17/05/2022


Course: 2022/2023

Robotic telepresence and teleoperation
(17845)
Study: Master in Robotics and Automation (77)
EPI


Coordinating teacher: MONJE MICHARET, CONCEPCION ALICIA

Department assigned to the subject: Department of Systems Engineering and Automation

Type: Electives
ECTS Credits: 3.0 ECTS

Course:
Semester:




Objectives
The course intends to provide with the basics for an understanding of the robotics and teleoperation field theory, its main applications in submarine, nuclear and spatial field. The different types of advanced control used in teleoperation are studied, and finally the application of virtual reality to this research field.
Skills and learning outcomes
Description of contents: programme
Contents: 1. Teleoperation history 1.1. Teleoperation overview 1.2. Teleoperation requirements 2. Concepts and definitions 2.1. Main teleoperation concepts 2.2. Main telepresence concepts 3. Technologies: Devices 3.1. Technologies involved in teleoperation and telepresence 3.2. Design specifications for a teleoperated system 4. Teleoperation architectures and supervised control 4.1. Different architectures for teleoperation 4.2. Comparison between architectures 5. Guiding in teleoperation 5.1. Characteristics of guiding and manipulation operations 5.2. Requeriments of guiding systems through teleoperation 6. Human factors in teleoperation 6.1. Physiology of the human body 6.2. The sense of touch 6.3. Requirements for telemanipulation 7. Force-Torque Control / Haptic control 7.1. Definition of force-torque control / haptic control 7.2. Constraints for force-torque control / haptic control 8. Simulators and virtual reality 8.1. Practical session 1 8.2. Practical session 2 8.3. Practical session 3 9. Applications: submarine, nuclear, and spatial ones, among others
Learning activities and methodology
Classroom lectures about the contents described in the programme and 3 practical sessions in teleoperation laboratories. Besides, the students will have to do a work on the subject. Tutorial sessions will be carried out according to the tutorial sessions schedule.
Assessment System
  • % end-of-term-examination 70
  • % of continuous assessment (assigments, laboratory, practicals...) 30
Calendar of Continuous assessment
Basic Bibliography
  • A. Barrientos, L. F. Peñin, C. Balaguer, R. Aracil . Fundamentos de robótica . McGraw Hill. 1977
  • Concepción A. Monje . Lecture Notes. NA. 2018
  • Jean Vertut and Philippe Coiffet . Teleoperation and robotics. Evolution and development . Hermes. 1985
  • Steven B, Skaar, Carl F. Ruoff . Teleoperation and robotics in space. Washington, DC : American Institute of Aeronautics and Astronautics . 1994
  • Thomas Sheridan . Telerobotics automation and human supervisory control . Cambridge (Massachusetts): MIT Press. 1992
Additional Bibliography
  • Concepción A. Monje . Lecture Notes. NA. 2018

The course syllabus may change due academic events or other reasons.


More information: http://roboticslab.uc3m.es/roboticslab/people/ca-monje