The global objective of the " TELEMAN 7-VISYS" project was to develop all the components for an integrated high performance vision and sensing system for semi-autonomous teleoperation. This was to involve sensor and camera developments, data processing, image interpretation and tools for aiding operator decisions.
Research is being carried out in order to develop all the components for an integrated high performance vision and sensing for semiautonomous teleoperation.
Several high performance prototype sensor systems have been developed and demonstrated. The dynamic range of a radiation hardened camera has been increased by a faster of 30 using dynamic beam control and has been successfully tested on high contrast scenes. A comprehensive overview of radiation tolerant position sensors identified suitable solutions for most sensing needs. A 3-dimensional system has been shown to recognize and localize representative components such as flanges. A special end effector sensor has been demonstrated for the accurate localization of holes in components, as has a laser beacon scanning sensor for absolute position location during navigation. A 3-dimensional position estimation software module has also been written to fuse data from a combination of different sensors and hence to reduce the uncertainties generated by the individual sensors. Exploitation
The systems are all being exploited for further development and integration into the TELEMAN TM48 - INGRID robust gantry-mounted manipulator research machine project. Moreover, the camera has become a commercial product of AEA; the identified radiation hardened sensors are being used in laboratory and industrial applications at CEN/SCK; KfK is negotiating industrial licencing agreements for the RIALTO vision system; the Univ. Oxford localisation system is being used in cargo handling, and CRIF is exploiting its results in Belgian industrial applications.
Work to be done
Vision under poor lighting conditions: development of a wide dynamic range camera with high radiation tolerance. Applications to situations such as flame viewing and poor contrast scenes. Position detection system: selection and development of rad-hard internal and external sensors, with data fusion to produce reliable information.
Environmental sensors and obstacle avoidance: selection of sensors, detection of shapes, link to CAD data base, and an obstacle detection system.
Object recognition and localisation: image enhancement, object localisation, shape recognition, link to CAD data base. Graphical scene representation: development of man-machine interface tools to combine on screen synthetic scenes and real images.
Operator decision aid for task level control: development of tools to assist the teleoperator to schedule tasks based on the processed geometrical information.
Each development was to be subjected to specific representative tests in simulated environments. Special attention was to be given to good interfacing between the parts (camera, sensor systems, image processing, etc. ). Close collaboration was to be ensured with the other TELEMAN projects to specify representative geometrical environments and tasks, and to exploit data on experimental radiation resistance.
Funding SchemeCSC - Cost-sharing contracts
OX11 0RA Didcot - Oxfordshire