Remote Learning for the Remote Learning for the

Manipulation and Manipulation and

Control of Robotic CellsControl of Robotic Cells

Goldstain OfirGoldstain Ofir

Advisors: Ben-Gal Irad, Bukchin YossiAdvisors: Ben-Gal Irad, Bukchin Yossi

Department of industrial engineeringDepartment of industrial engineering

Tel-Aviv UniversityTel-Aviv University

OutlineOutline

Background: Background: Tele-OperationTele-Operation via via Remote learningRemote learning requirements requirements

Alternative approaches for the Alternative approaches for the remote control & learning labremote control & learning lab

Applied system at the Tel-Aviv Applied system at the Tel-Aviv University CIM LabUniversity CIM Lab

Call for cooperationCall for cooperation

BackgroundBackground: Tele-: Tele-OperationOperation Ex: submarines, mines, remote Ex: submarines, mines, remote

surgery surgery Use: Use: control & operationcontrol & operation of remotely of remotely

located robots and machineslocated robots and machines Generally used in a Generally used in a hostile, remote hostile, remote

and inaccessible environmentsand inaccessible environments Often the environment is Often the environment is well well

defineddefined, with a set of , with a set of predetermined predetermined actionsactions for the robot for the robot

BackgroundBackground: Remote-: Remote-LearningLearning

Ex: Plane simulator, process simulatorEx: Plane simulator, process simulator Use: training an operator for different Use: training an operator for different

and and flexible work environmentsflexible work environments Improving an operator’s skills, by Improving an operator’s skills, by

using a using a “trial and error”“trial and error” process process simulationsimulation as a tool for learning and as a tool for learning and

improving the operational skillsimproving the operational skills

Remote control & learning Remote control & learning lablab: basic requirements: basic requirements

Visual feedbacksVisual feedbacks from the remote from the remote sitesite

Intuitive Intuitive interfaceinterface for the control of for the control of the robot and other lab equipment the robot and other lab equipment

Users administrationUsers administration, block and , block and overlap prevention, data security overlap prevention, data security

Moderate bandwidth requirementsModerate bandwidth requirements

Safety Safety !!

OutlineOutline

Background: Tele-Operation via Background: Tele-Operation via Remote learning requirementsRemote learning requirements

Alternative approachesAlternative approaches for the for the remote control & learning labremote control & learning lab

Applied system at the Tel-Aviv Applied system at the Tel-Aviv University CIM LabUniversity CIM Lab

Call for cooperationCall for cooperation

Remote learningRemote learning::possible approachespossible approaches

Lab based controller (via Lab based controller (via

emulator)emulator)

Home based (observation) Home based (observation)

controller controller

Website based controllerWebsite based controller

OutlineOutline

Background: Tele-Operation via Background: Tele-Operation via Remote learning requirementsRemote learning requirements

Alternative approaches for the Alternative approaches for the remote control & learning labremote control & learning lab

Applied system at the Tel-Aviv Applied system at the Tel-Aviv University CIM LabUniversity CIM Lab

Call for cooperationCall for cooperation

Task-learning simulatorTask-learning simulator

RoboCellRoboCell©© is a 3D simulation is a 3D simulation program designed by program designed by InteliteckInteliteck for for planning & programming a robotic planning & programming a robotic work cellwork cell

Supports “trail and error” learningSupports “trail and error” learning Simulation programs can Simulation programs can

manipulate the lab equipment manipulate the lab equipment Download (~10MB) and used at Download (~10MB) and used at

the user home at his “free time” the user home at his “free time”

Our web-site Our web-site interfaceinterface The web-site designed includes the The web-site designed includes the

following modules:following modules:– Live (buffered) Live (buffered) video feedvideo feed from the from the

remote cellremote cell– Robot control and operation moduleRobot control and operation module– Feedback from the robot’s encodersFeedback from the robot’s encoders– Data management and uploading Data management and uploading

modulemodule– Visual documentation tool for the cellVisual documentation tool for the cell

Work-flow:Scorbase.exe

Remote Control & learning Remote Control & learning Lab:Lab:

AdvantagesAdvantages Higher accessibilityHigher accessibility of students to of students to

expensive lab equipmentexpensive lab equipment Efficient usageEfficient usage of lab equipment at of lab equipment at

flexible hours (e.g., very late, flexible hours (e.g., very late, holidays)holidays)

AssimilationAssimilation of the of the importance of 3D importance of 3D simulationsimulation in the planning process in the planning process

Modern (sexier) look of CIM labsModern (sexier) look of CIM labs

הערכת ההפעלה הנסיוניתהערכת ההפעלה הנסיונית

""נהניתי מההזדמנות להתנסות בשליטה מרחוקנהניתי מההזדמנות להתנסות בשליטה מרחוק""

) ענו כי נהנו במידה בינונית ) ענו כי נהנו במידה בינונית 87%87% ( (6060 סטודנטים מתוך סטודנטים מתוך 5252עד רבהעד רבה

"" ממשק המשתמש לשליטה מרחוק הוא נוח ממשק המשתמש לשליטה מרחוק הוא נוח""לשימושלשימוש

) ענו כי הממשק נוח ) ענו כי הממשק נוח 82%82% ( (6060 סטודנטים מתוך סטודנטים מתוך 4949במידה בינונית עד רבהבמידה בינונית עד רבה

""האפשרות לסימולציה שיפרה את ביצוע המעבדההאפשרות לסימולציה שיפרה את ביצוע המעבדה""

) ענו ) ענו 79%79% שהתנסו בסימולציה ( שהתנסו בסימולציה (4242 סטודנטים מתוך סטודנטים מתוך 3333כי הסימולציה תרמה במידה בינונית עד רבהכי הסימולציה תרמה במידה בינונית עד רבה

The EndThe End

Questions & Comments?Questions & Comments?